Upload Part2Obstacle_avoidance (part 39)

.gitattributes

@@ -13262,3 +13262,69 @@ Part2/Free/digiy/ball_15A_10/width_10/pick/fem_node.csv filter=lfs diff=lfs merg
 Part2/Free/digiy/ball_15A_12.5/width_01/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
 Part2/Free/digiy/ball_15A_12.5/width_01/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
 Part2/Free/digiy/ball_15A_12.5/width_02/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_0050_17.5/position_01/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_0050_17.5/position_02/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_0050_17.5/position_02/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_0050_17.5/position_02/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_0050_17.5/position_02/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_0050_17.5/position_02/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_0050_17.5/position_05/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_0050_17.5/position_05/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_0050_17.5/position_05/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_0050_17.5/position_05/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_0050_17.5/position_05/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_0050_17.5/position_06/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_0050_17.5/position_06/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_0050_17.5/position_06/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_0050_17.5/position_06/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_0050_17.5/position_06/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_0050_17.5/position_07/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_0050_17.5/position_07/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_0050_17.5/position_07/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_0050_17.5/position_07/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_0050_17.5/position_07/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_0050_17.5/position_08/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_0050_17.5/position_08/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_0050_17.5/position_08/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_0050_17.5/position_08/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_0050_17.5/position_08/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_0050_17.5/position_09/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_0050_17.5/position_09/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_0050_17.5/position_09/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_0050_17.5/position_09/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_0050_17.5/position_09/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_0050_17.5/position_10/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_0050_17.5/position_10/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_0050_17.5/position_10/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_0050_17.5/position_10/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_0050_17.5/position_10/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_0050_17.5/position_11/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_0050_17.5/position_11/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_0050_17.5/position_11/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_0050_17.5/position_11/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_0050_17.5/position_11/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_0050_17.5/position_12/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_0050_17.5/position_12/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_0050_17.5/position_12/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_0050_17.5/position_12/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_0050_17.5/position_12/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_0050_20/position_01/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_0050_20/position_01/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_0050_20/position_01/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_0050_20/position_01/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_0050_20/position_01/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_0050_20/position_02/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_0050_20/position_02/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_0050_20/position_02/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_0050_20/position_02/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_0050_20/position_02/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text

Part2/Obstacle_avoidance/cylinder_0050_17.5/position_01/depth_04/simulation_data.csv

@@ -0,0 +1,420 @@
+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,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+1,0.016666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+2,0.033333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+3,0.050000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+4,0.066666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+5,0.083333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+6,0.100000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+7,0.116666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+8,0.133333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+9,0.150000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+10,0.166666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+11,0.183333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+12,0.200000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+13,0.216666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+14,0.233333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+15,0.250000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+16,0.266666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+17,0.283333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+18,0.300000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+19,0.316666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+20,0.333333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+21,0.350000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+22,0.366666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+23,0.383333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+24,0.400000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+25,0.416666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+26,0.433333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+27,0.450000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+28,0.466666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+29,0.483333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+30,0.500000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+31,0.516666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+32,0.533333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+33,0.550000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+34,0.566666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+35,0.583333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+36,0.600000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+37,0.616666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+38,0.633333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+39,0.650000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+40,0.666666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+41,0.683333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+42,0.700000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+43,0.716666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+44,0.733333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+45,0.750000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+46,0.766666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+47,0.783333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+48,0.800000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+49,0.816666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+50,0.833333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+51,0.850000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+52,0.866666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+53,0.883333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+54,0.900000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+55,0.916666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+56,0.933333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+57,0.950000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+58,0.966666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+59,0.983333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+60,1.000000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+61,1.016666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+62,1.033333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+63,1.050000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+64,1.066666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+65,1.083333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+66,1.100000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+67,1.116666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+68,1.133333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+69,1.150000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+70,1.166666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+71,1.183333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+72,1.200000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+73,1.216666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+74,1.233333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+75,1.250000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+76,1.266666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+77,1.283333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+78,1.300000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+79,1.316666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+80,1.333333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+81,1.350000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+82,1.366666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+83,1.383333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+84,1.400000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+85,1.416666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+86,1.433333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+87,1.450000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+88,1.466666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+89,1.483333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+90,1.500000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+91,1.516666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+92,1.533333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+93,1.550000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+94,1.566666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+95,1.583333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+96,1.600000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+97,1.616666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+98,1.633333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+99,1.650000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+100,1.666666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+101,1.683333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+102,1.700000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+103,1.716666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+104,1.733333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+105,1.750000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+106,1.766666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+107,1.783333333,pose1_to_pose2_press,0.575664459085,9.09086622389e-05,1.05003226221,0.546234907976,0.00876263890266,1.04970038877
+108,1.800000000,pose1_to_pose2_press,0.575664465776,9.09054449126e-05,1.05003225658,0.546234914841,0.00876263632336,1.04970038438
+109,1.816666667,pose1_to_pose2_press,0.575664481515,9.08978776755e-05,1.05003224335,0.54623493099,0.00876263025676,1.04970037405
+110,1.833333333,pose1_to_pose2_press,0.575664485153,9.08961288074e-05,1.05003224029,0.546234934722,0.0087626288547,1.04970037167
+111,1.850000000,pose1_to_pose2_press,0.575664489736,9.08939251284e-05,1.05003223643,0.546234939424,0.00876262708803,1.04970036866
+112,1.866666667,pose1_to_pose2_press,0.575664495508,9.08911500532e-05,1.05003223158,0.546234945346,0.00876262486327,1.04970036488
+113,1.883333333,pose1_to_pose2_press,0.575664522167,9.08787753801e-05,1.05003221484,0.546234972572,0.00876261455293,1.04970035179
+114,1.900000000,pose1_to_pose2_press,0.575664838435,9.07479212304e-05,1.05003222026,0.546235291017,0.00876249100118,1.04970035499
+115,1.916666667,pose1_to_pose2_press,0.575666457186,9.0707233826e-05,1.05003211454,0.546236910306,0.00876245219946,1.04970025076
+116,1.933333333,pose1_to_pose2_press,0.575672798441,9.08873594728e-05,1.05003243945,0.546243249583,0.00876262563215,1.04970057624
+117,1.950000000,pose1_to_pose2_press,0.575685812137,9.07884878939e-05,1.05003227256,0.546256262141,0.00876252279074,1.04970040639
+118,1.966666667,pose1_to_pose2_press,0.575709143766,9.06845947833e-05,1.05003209746,0.546279597511,0.00876243170798,1.04970023419
+119,1.983333333,pose1_to_pose2_press,0.575743412217,9.07365604205e-05,1.05003228664,0.546313864006,0.00876247677138,1.04970041647
+120,2.000000000,pose1_to_pose2_press,0.575790082422,9.07626706039e-05,1.05003243303,0.546360533977,0.00876250224314,1.04970056682
+121,2.016666667,pose1_to_pose2_press,0.575846589977,9.08406714415e-05,1.05003248365,0.546417040476,0.00876257648966,1.04970061293
+122,2.033333333,pose1_to_pose2_press,0.575911848208,9.08748862206e-05,1.05003250158,0.546482298632,0.00876261040985,1.04970062974
+123,2.050000000,pose1_to_pose2_press,0.575985145615,9.08693038959e-05,1.05003248968,0.546555595455,0.00876260272436,1.04970061465
+124,2.066666667,pose1_to_pose2_press,0.576066719993,9.08019510457e-05,1.05003238412,0.546637170967,0.0087625392767,1.04970051052
+125,2.083333333,pose1_to_pose2_press,0.57615817394,9.08757469515e-05,1.05003247345,0.546728623497,0.00876260849322,1.04970060582
+126,2.100000000,pose1_to_pose2_press,0.576260568683,9.08412621159e-05,1.05003247091,0.546831018775,0.00876257587795,1.04970060472
+127,2.116666667,pose1_to_pose2_press,0.57637659833,9.0740419084e-05,1.05003228285,0.546947050964,0.00876248354519,1.04970041344
+128,2.133333333,pose1_to_pose2_press,0.576506020937,9.07602545739e-05,1.05003243468,0.547076472716,0.00876250033029,1.04970056132
+129,2.150000000,pose1_to_pose2_press,0.576649964424,9.07263506358e-05,1.05003249221,0.547220417136,0.00876246969842,1.04970062161
+130,2.166666667,pose1_to_pose2_press,0.576811220463,9.07163702147e-05,1.05003242428,0.547381672658,0.00876245796012,1.04970055352
+131,2.183333333,pose1_to_pose2_press,0.576990173768,9.07559137097e-05,1.05003243562,0.547560624562,0.00876249260363,1.04970056104
+132,2.200000000,pose1_to_pose2_press,0.577188823292,9.07928041696e-05,1.05003239826,0.547759273535,0.00876252763287,1.04970052381
+133,2.216666667,pose1_to_pose2_press,0.577406301536,9.075028381e-05,1.0500323287,0.547976752347,0.00876248708622,1.04970045546
+134,2.233333333,pose1_to_pose2_press,0.577643463033,9.0654903118e-05,1.05003248421,0.548213915462,0.00876239703162,1.04970060657
+135,2.250000000,pose1_to_pose2_press,0.577896507193,9.07217545042e-05,1.05003238391,0.548466959351,0.00876246307372,1.04970050905
+136,2.266666667,pose1_to_pose2_press,0.578164970751,9.08419723279e-05,1.05003234279,0.548735421646,0.00876257933448,1.04970047654
+137,2.283333333,pose1_to_pose2_press,0.578447868012,9.0828273936e-05,1.05003236596,0.549018317725,0.00876256146535,1.04970049543
+138,2.300000000,pose1_to_pose2_press,0.578746688307,9.09264725159e-05,1.05003238329,0.549317137379,0.00876265735728,1.04970050935
+139,2.316666667,pose1_to_pose2_press,0.579069711705,9.0733466374e-05,1.05003226848,0.549640163136,0.00876247257903,1.04970040026
+140,2.333333333,pose1_to_pose2_press,0.579419624606,9.06855742997e-05,1.05003222863,0.54999007772,0.00876243044358,1.04970036149
+141,2.350000000,pose1_to_pose2_press,0.579800549661,9.07185789301e-05,1.050032367,0.550371003313,0.00876246534552,1.04970050172
+142,2.366666667,pose1_to_pose2_press,0.580214957326,9.07382902345e-05,1.0500325382,0.550785409904,0.00876248133519,1.04970067084
+143,2.383333333,pose1_to_pose2_press,0.580660328488,9.07814972788e-05,1.05003248093,0.55123078036,0.00876252197766,1.04970060906
+144,2.400000000,pose1_to_pose2_press,0.581121096855,9.07965708343e-05,1.05003236506,0.551691548224,0.00876253542755,1.04970049523
+145,2.416666667,pose1_to_pose2_press,0.581594236716,9.07297150469e-05,1.05003230848,0.552164688371,0.00876246959956,1.04970044018
+146,2.433333333,pose1_to_pose2_press,0.582079391888,9.07174236591e-05,1.05003224199,0.552649843988,0.00876245881957,1.0497003736
+147,2.450000000,pose1_to_pose2_press,0.582577834831,9.07977860202e-05,1.05003223057,0.553148285441,0.00876253424714,1.04970036535
+148,2.466666667,pose1_to_pose2_press,0.583093395075,9.0791110579e-05,1.05003223297,0.553663846089,0.00876252888604,1.0497003662
+149,2.483333333,pose1_to_pose2_press,0.58363801235,9.08543752088e-05,1.05003222681,0.55420846451,0.00876259624082,1.04970036527
+150,2.500000000,pose1_to_pose2_press,0.584208814236,9.07727762665e-05,1.0500323557,0.554779266397,0.00876251440777,1.0497004879
+151,2.516666667,pose1_to_pose2_press,0.584797435779,9.0690514727e-05,1.05003222751,0.555367888891,0.00876243554936,1.04970036426
+152,2.533333333,pose1_to_pose2_press,0.58539582207,9.08645625458e-05,1.05003220315,0.555966272453,0.00876260046526,1.04970034333
+153,2.550000000,pose1_to_pose2_press,0.585999052613,9.08796914097e-05,1.05003222245,0.556569502331,0.00876261308763,1.04970035602
+154,2.566666667,pose1_to_pose2_press,0.586617473205,9.08541628086e-05,1.05003231121,0.557187924491,0.00876259286178,1.04970044428
+155,2.583333333,pose1_to_pose2_press,0.5872573094,9.07592653067e-05,1.05003241521,0.557827762182,0.00876250304972,1.04970054844
+156,2.600000000,pose1_to_pose2_press,0.58792827996,9.07523687342e-05,1.05003232535,0.558498732328,0.00876249491392,1.04970046293
+157,2.616666667,pose1_to_pose2_press,0.58862737915,9.07965897411e-05,1.05003226264,0.559197830984,0.00876253734175,1.04970040063
+158,2.633333333,pose1_to_pose2_press,0.589346982902,9.07971308922e-05,1.05003229019,0.559917434989,0.00876253863484,1.04970042539
+159,2.650000000,pose1_to_pose2_press,0.590074625727,9.07373483256e-05,1.05003221393,0.560645077426,0.00876247759395,1.04970035067
+160,2.666666667,pose1_to_pose2_press,0.59080891893,9.06664736189e-05,1.05003225987,0.561379370189,0.00876240507863,1.04970039269
+161,2.683333333,pose1_to_pose2_press,0.591539556161,9.08069756078e-05,1.05003238128,0.562110007457,0.00876254563644,1.04970051237
+162,2.700000000,pose1_to_pose2_press,0.592268465096,9.07660338964e-05,1.0500324593,0.562838918241,0.00876251104441,1.04970059231
+163,2.716666667,pose1_to_pose2_press,0.593000107656,9.0738965035e-05,1.05003234008,0.563570561002,0.00876248480181,1.04970047682
+164,2.733333333,pose1_to_pose2_press,0.593735715334,9.06847237161e-05,1.0500322439,0.564306169061,0.00876243169786,1.0497003766
+165,2.750000000,pose1_to_pose2_press,0.594481819206,9.08585541003e-05,1.05003223281,0.565052268789,0.0087625914014,1.04970036391
+166,2.766666667,pose1_to_pose2_press,0.595250460816,9.08459067461e-05,1.05003230426,0.565820911346,0.00876258217806,1.04970044087
+167,2.783333333,pose1_to_pose2_press,0.596047214845,9.07733387409e-05,1.05003216652,0.566617665962,0.00876251158354,1.04970030268
+168,2.800000000,pose1_to_pose2_press,0.596860101388,9.07912425852e-05,1.0500322553,0.567430551406,0.00876252569801,1.04970038999
+169,2.816666667,pose1_to_pose2_press,0.597680377226,9.07640120167e-05,1.05003228362,0.568250827846,0.00876250043442,1.04970041633
+170,2.833333333,pose1_to_pose2_press,0.598492851562,9.08022065559e-05,1.05003243764,0.56906330416,0.00876254544686,1.0497005731
+171,2.850000000,pose1_to_pose2_press,0.599284988629,9.08356073835e-05,1.05003246275,0.569855440839,0.00876257749741,1.04970059744
+172,2.866666667,pose1_to_pose2_press,0.6000481904,9.0817370514e-05,1.0500322425,0.570618641292,0.00876255479473,1.04970037739
+173,2.883333333,pose1_to_pose2_press,0.600805275778,9.08070047811e-05,1.05003216461,0.57137572726,0.00876254656475,1.04970030308
+174,2.900000000,pose1_to_pose2_press,0.601560970034,9.08034738969e-05,1.0500322792,0.572131422317,0.00876254565755,1.04970041523
+175,2.916666667,pose1_to_pose2_press,0.602328944736,9.08407089415e-05,1.05003215832,0.572899394392,0.0087625739525,1.04970029373
+176,2.933333333,pose1_to_pose2_press,0.60310585281,9.08565652666e-05,1.05003245489,0.573676301972,0.00876258786943,1.04970058358
+177,2.950000000,pose1_to_pose2_press,0.60388109074,9.08339462762e-05,1.05003211123,0.574451540387,0.00876256706933,1.04970024441
+178,2.966666667,pose1_to_pose2_press,0.604646384598,9.0741698245e-05,1.05003224831,0.575216836583,0.00876248264046,1.04970037854
+179,2.983333333,pose1_to_pose2_press,0.605398218188,9.0775611279e-05,1.05003231206,0.575968669952,0.00876251621902,1.04970045335
+180,3.000000000,pose1_to_pose2_press,0.606124854091,9.0825786967e-05,1.05003211359,0.576695305915,0.00876256653318,1.04970025317
+181,3.016666667,pose1_to_pose2_press,0.606831311636,9.06801948375e-05,1.05003228694,0.577401764789,0.00876242526148,1.04970042167
+182,3.033333333,pose1_to_pose2_press,0.607524257343,9.07505736632e-05,1.05003236481,0.578094709653,0.00876249258955,1.04970049463
+183,3.050000000,pose1_to_pose2_press,0.608203141017,9.08077853163e-05,1.05003228512,0.578773592441,0.00876254683072,1.04970041604
+184,3.066666667,pose1_to_pose2_press,0.608866885141,9.07549441557e-05,1.05003223227,0.579437336655,0.00876249435292,1.04970036472
+185,3.083333333,pose1_to_pose2_press,0.609522487303,9.0770722431e-05,1.05003222441,0.58009293912,0.0087625112292,1.04970035884
+186,3.100000000,pose1_to_pose2_press,0.61017336945,9.08074004708e-05,1.05003221568,0.580743821134,0.00876254749855,1.04970035132
+187,3.116666667,pose1_to_pose2_press,0.610807237018,9.07578543859e-05,1.05003230699,0.581377688862,0.00876249839548,1.04970044006
+188,3.133333333,pose1_to_pose2_press,0.611420788417,9.080755567e-05,1.05003245953,0.581991240528,0.00876254887574,1.04970058949
+189,3.150000000,pose1_to_pose2_press,0.612003370547,9.07875089533e-05,1.05003237563,0.582573821203,0.00876252362926,1.04970049874
+190,3.166666667,pose1_to_pose2_press,0.612551719139,9.08266679561e-05,1.05003226249,0.583122170435,0.00876256511826,1.04970038958
+191,3.183333333,pose1_to_pose2_press,0.613065518544,9.07575358487e-05,1.05003230838,0.583635968339,0.00876249145352,1.04970044754
+192,3.200000000,pose1_to_pose2_press,0.613566334107,9.06537912075e-05,1.05003218788,0.584136787666,0.00876240014839,1.04970031461
+193,3.216666667,pose1_to_pose2_press,0.61405759977,9.07044231767e-05,1.05003219741,0.584628051604,0.00876244536128,1.04970032965
+194,3.233333333,pose1_to_pose2_press,0.614541984908,9.08452762224e-05,1.05003239246,0.585112434935,0.0087625802624,1.04970052214
+195,3.250000000,pose1_to_pose2_press,0.615011698163,9.08812424988e-05,1.0500324293,0.585582147855,0.008762615368,1.04970055903
+196,3.266666667,pose1_to_pose2_press,0.615454470892,9.0817425399e-05,1.05003233351,0.586024920691,0.00876255249904,1.04970047149
+197,3.283333333,pose1_to_pose2_press,0.615869171795,9.07578282544e-05,1.05003237254,0.586439622766,0.0087624971312,1.04970050992
+198,3.300000000,pose1_to_pose2_press,0.616256726094,9.07196973836e-05,1.05003249914,0.58682717938,0.00876246668143,1.04970062585
+199,3.316666667,pose1_to_pose2_press,0.616625883917,9.07430120107e-05,1.05003243039,0.587196336594,0.00876248863837,1.04970056906
+200,3.333333333,pose1_to_pose2_press,0.616982127036,9.08032339244e-05,1.05003225426,0.587552578296,0.00876254406621,1.04970038657
+201,3.350000000,pose1_to_pose2_press,0.617330903621,9.07600582405e-05,1.05003232565,0.587901354345,0.00876249943085,1.04970046105
+202,3.366666667,pose1_to_pose2_press,0.617666597152,9.08689735539e-05,1.05003213539,0.588237047238,0.00876260648067,1.04970027283
+203,3.383333333,pose1_to_pose2_press,0.617982858617,9.08263264689e-05,1.05003199651,0.588553309686,0.00876256742103,1.04970013511
+204,3.400000000,pose1_to_pose2_press,0.618270420982,9.08951680135e-05,1.05003206379,0.588840869922,0.00876262910606,1.04970019883
+205,3.416666667,pose1_to_pose2_press,0.618527658312,9.07934204876e-05,1.05003218874,0.589098109646,0.00876253556423,1.04970032021
+206,3.433333333,pose1_to_pose2_press,0.618758256239,9.07390974039e-05,1.05003224667,0.589328708315,0.00876248391019,1.04970037634
+207,3.450000000,pose1_to_pose2_press,0.618966980848,9.08121630919e-05,1.0500322315,0.589537430601,0.0087625494086,1.04970036414
+208,3.466666667,pose1_to_pose2_press,0.619158808002,9.08786551608e-05,1.05003223141,0.589729256711,0.00876261277603,1.049700371
+209,3.483333333,pose1_to_pose2_press,0.619340096381,9.08812366652e-05,1.0500324631,0.589910546421,0.00876261974125,1.04970059617
+210,3.500000000,pose1_to_pose2_press,0.61951155001,9.0878274843e-05,1.05003262939,0.590082000573,0.00876261825538,1.04970075062
+211,3.516666667,pose1_to_pose2_press,0.619669469133,9.08228931915e-05,1.05003240102,0.590239919845,0.0087625639443,1.04970053479
+212,3.533333333,pose1_to_pose2_press,0.619813339908,9.08599035361e-05,1.05003251166,0.590383790365,0.00876260023887,1.04970064597
+213,3.550000000,pose1_to_pose2_press,0.619941607848,9.08466177764e-05,1.05003226709,0.590512057747,0.00876258537095,1.04970040636
+214,3.566666667,pose1_to_pose2_press,0.620056089122,9.07850887978e-05,1.05003229573,0.590626539343,0.00876252487264,1.04970043057
+215,3.583333333,pose1_to_pose2_press,0.620156382411,9.07476195427e-05,1.05003243004,0.590726832982,0.00876248848491,1.04970056012
+216,3.600000000,pose1_to_pose2_press,0.620245455718,9.0811860635e-05,1.05003236276,0.590815905208,0.00876254910536,1.04970049263
+217,3.616666667,pose1_to_pose2_press,0.620323445146,9.087344731e-05,1.05003238726,0.590893893902,0.0087626082224,1.04970051226
+218,3.633333333,pose1_to_pose2_press,0.620389141781,9.07628813533e-05,1.05003241844,0.590959592291,0.00876250414977,1.04970054654
+219,3.650000000,pose1_to_pose2_press,0.620443884035,9.08994255837e-05,1.05003261906,0.591014333611,0.00876263737284,1.04970074229
+220,3.666666667,pose1_to_pose2_press,0.62048874209,9.08422631828e-05,1.0500325439,0.591059191505,0.00876257850158,1.04970065993
+221,3.683333333,pose1_to_pose2_press,0.620525153818,9.08248453696e-05,1.05003233061,0.591095602427,0.00876255959766,1.04970047106
+222,3.700000000,pose1_to_pose2_press,0.620553563251,9.08738871217e-05,1.05003224395,0.591124011492,0.0087626074382,1.04970038054
+223,3.716666667,pose1_to_pose2_press,0.620576913689,9.07746611856e-05,1.05003222943,0.591147364096,0.00876251539799,1.04970036072
+224,3.733333333,pose1_to_pose2_press,0.620595408913,9.0632077225e-05,1.0500322364,0.591165861456,0.00876238001008,1.04970036734
+225,3.750000000,pose1_to_pose2_press,0.620609343336,9.05823966316e-05,1.05003223225,0.591179795877,0.00876233041832,1.04970036584
+226,3.766666667,pose1_to_pose2_press,0.620619425402,9.06528058088e-05,1.05003221374,0.591189876464,0.00876239601182,1.04970034985
+227,3.783333333,pose1_to_pose2_press,0.62062616576,9.07311964993e-05,1.05003246475,0.59119661697,0.00876247467001,1.04970059405
+228,3.800000000,pose1_to_pose2_press,0.620630705986,9.07846982757e-05,1.0500325607,0.591201156986,0.00876252733988,1.0497006869
+229,3.816666667,pose1_to_pose2_press,0.620633345323,9.08076294325e-05,1.05003238203,0.591203795198,0.00876254659105,1.04970051215
+230,3.833333333,pose1_to_pose2_press,0.620635002383,9.0822026343e-05,1.05003226985,0.591205451551,0.00876255867754,1.04970040244
+231,3.850000000,pose1_to_pose2_press,0.620635943562,9.08253922369e-05,1.05003223212,0.591206392633,0.0087625617482,1.04970036599
+232,3.866666667,pose1_to_pose2_press,0.62063674511,9.08229173621e-05,1.05003222884,0.591207194433,0.00876256015098,1.04970036364
+233,3.883333333,pose1_to_pose2_press,0.620637395851,9.08209081208e-05,1.05003222618,0.591207845379,0.00876255885427,1.04970036174
+234,3.900000000,pose1_to_pose2_press,0.620637831634,9.08195625868e-05,1.0500322244,0.591208281299,0.0087625579859,1.04970036047
+235,3.916666667,pose1_to_pose2_press,0.620638280859,9.08181755486e-05,1.05003222256,0.591208730666,0.00876255709075,1.04970035916
+236,3.933333333,pose1_to_pose2_press,0.620638792278,9.08165964834e-05,1.05003222047,0.591209242246,0.00876255607166,1.04970035766
+237,3.950000000,pose1_to_pose2_press,0.620639085852,9.08113991627e-05,1.050032212,0.59120953589,0.00876255110941,1.04970034914
+238,3.966666667,pose1_to_pose2_press,0.620639243452,9.08055171908e-05,1.05003220221,0.591209693511,0.00876254529139,1.04970033905
+239,3.983333333,pose1_to_pose2_press,0.620639379827,9.08004273993e-05,1.05003219374,0.591209829904,0.00876254025693,1.04970033032
+240,4.000000000,pose1_to_pose2_press,0.620639580663,9.0792931772e-05,1.05003218127,0.591210030767,0.0087625328428,1.04970031746
+241,4.016666667,pose1_to_pose2_press,0.620639959115,9.07788071065e-05,1.05003215777,0.59121040927,0.0087625188717,1.04970029323
+242,4.033333333,pose1_to_pose2_press,0.620640214972,9.07692580013e-05,1.05003214189,0.591210665161,0.00876250942641,1.04970027684
+243,4.050000000,pose1_to_pose2_press,0.620640287509,9.07665507415e-05,1.05003213738,0.591210737708,0.00876250674858,1.0497002722
+244,4.066666667,pose1_to_pose2_press,0.620640433836,9.07610895309e-05,1.0500321283,0.591210884054,0.00876250134675,1.04970026283
+245,4.083333333,pose1_to_pose2_press,0.620640461146,9.07600702426e-05,1.0500321266,0.591210911369,0.00876250033854,1.04970026108
+246,4.100000000,pose1_to_pose2_press,0.62064067369,9.07521376735e-05,1.0500321134,0.59121112394,0.00876249249221,1.04970024747
+247,4.116666667,pose1_to_pose2_press,0.620640697823,9.07517872789e-05,1.05003211266,0.591211148058,0.00876249208225,1.04970024661
+248,4.133333333,pose1_to_pose2_press,0.620640916966,9.07572097202e-05,1.0500321178,0.591211366746,0.00876249587941,1.04970024962
+249,4.150000000,pose1_to_pose2_press,0.620641053537,9.07605890134e-05,1.050032121,0.591211503033,0.00876249824581,1.04970025149
+250,4.166666667,pose1_to_pose2_press,0.620641145298,9.07628595504e-05,1.05003212315,0.591211594605,0.00876249983579,1.04970025275
+251,4.183333333,pose1_to_pose2_press,0.620641363234,9.07662015138e-05,1.05003214146,0.591211812227,0.00876250204438,1.04970026922
+252,4.200000000,pose1_to_pose2_press,0.620641528351,9.07498009592e-05,1.05003227719,0.591211978395,0.00876248924406,1.04970040611
+253,4.216666667,pose1_to_pose2_press,0.620641639346,9.07387763251e-05,1.05003236843,0.591212090094,0.00876248063955,1.04970049814
+254,4.233333333,pose1_to_pose2_press,0.620641712061,9.06726621411e-05,1.05003231832,0.59121216286,0.00876241448389,1.04970044279
+255,4.250000000,pose1_to_pose2_press,0.620641762099,9.06253848105e-05,1.05003228052,0.591212212917,0.00876236713214,1.04970040121
+256,4.266666667,pose2_hold,0.620641762099,9.06253848105e-05,1.05003228052,0.591212212918,0.00876236713107,1.04970040121
+257,4.283333333,pose2_hold,0.620641762099,9.06253848105e-05,1.05003228052,0.591212212918,0.00876236713114,1.04970040121
+258,4.300000000,pose2_hold,0.620641762099,9.06253848105e-05,1.05003228052,0.591212212918,0.00876236713109,1.04970040121
+259,4.316666667,pose2_hold,0.620641762099,9.06253848105e-05,1.05003228052,0.591212212918,0.00876236713105,1.04970040121
+260,4.333333333,pose2_hold,0.620641762099,9.06253848105e-05,1.05003228052,0.591212212918,0.00876236713101,1.04970040121
+261,4.350000000,pose2_hold,0.620641762099,9.06253848105e-05,1.05003228052,0.591212212919,0.00876236713099,1.04970040121
+262,4.366666667,pose2_hold,0.620641762099,9.06253848105e-05,1.05003228052,0.591212212919,0.00876236713073,1.04970040121
+263,4.383333333,pose2_hold,0.620641762099,9.06253848105e-05,1.05003228052,0.591212212919,0.00876236713068,1.04970040121
+264,4.400000000,pose2_hold,0.620641762099,9.06253848105e-05,1.05003228052,0.591212212919,0.00876236713066,1.04970040121
+265,4.416666667,pose2_hold,0.620641762099,9.06253848105e-05,1.05003228052,0.591212212919,0.00876236713064,1.04970040121
+266,4.433333333,pose2_hold,0.620641762099,9.06253848105e-05,1.05003228052,0.591212212919,0.00876236713063,1.04970040121
+267,4.450000000,pose2_hold,0.620641762099,9.06253848105e-05,1.05003228052,0.591212212919,0.00876236713063,1.04970040121
+268,4.466666667,pose2_hold,0.620641762099,9.06253848105e-05,1.05003228052,0.591212212919,0.00876236713089,1.04970040121
+269,4.483333333,pose2_hold,0.620641762099,9.06253848105e-05,1.05003228052,0.591212212919,0.00876236713072,1.04970040121
+270,4.500000000,pose2_hold,0.620641762099,9.06253848105e-05,1.05003228052,0.591212212919,0.00876236713088,1.04970040121
+271,4.516666667,pose2_hold,0.620641762099,9.06253848105e-05,1.05003228052,0.591212212919,0.00876236713068,1.04970040121
+272,4.533333333,pose2_hold,0.620641762099,9.06253848105e-05,1.05003228052,0.591212212919,0.00876236713084,1.04970040121
+273,4.550000000,pose2_hold,0.620641762099,9.06253848105e-05,1.05003228052,0.591212212919,0.00876236713069,1.04970040121
+274,4.566666667,pose2_to_pose3_retreat,0.620641762099,9.06253848105e-05,1.05003228052,0.591212212919,0.00876236713063,1.04970040121
+275,4.583333333,pose2_to_pose3_retreat,0.620641711919,9.05958665322e-05,1.05003228677,0.591212163339,0.00876233960376,1.04970040625
+276,4.600000000,pose2_to_pose3_retreat,0.620641455922,9.06387404477e-05,1.05003226747,0.59121190721,0.00876238218376,1.04970039094
+277,4.616666667,pose2_to_pose3_retreat,0.620641189241,9.06917946374e-05,1.05003224515,0.591211640252,0.0087624344784,1.04970037321
+278,4.633333333,pose2_to_pose3_retreat,0.620640739434,9.07613180111e-05,1.05003219777,0.591211189822,0.00876250191094,1.04970032654
+279,4.650000000,pose2_to_pose3_retreat,0.62064011585,9.08561192837e-05,1.05003213132,0.591210565361,0.00876259374945,1.04970026052
+280,4.666666667,pose2_to_pose3_retreat,0.620638883141,9.09147910918e-05,1.05003211825,0.591209331512,0.00876264861051,1.0497002491
+281,4.683333333,pose2_to_pose3_retreat,0.620636067857,9.08853058854e-05,1.05003218928,0.591206516181,0.00876261898272,1.04970032122
+282,4.700000000,pose2_to_pose3_retreat,0.620629752442,9.07351714776e-05,1.05003230357,0.591200202613,0.00876247512004,1.04970043681
+283,4.716666667,pose2_to_pose3_retreat,0.620617290957,9.07870967252e-05,1.05003229502,0.591187740075,0.00876252361677,1.04970043007
+284,4.733333333,pose2_to_pose3_retreat,0.62059744349,9.07864756217e-05,1.05003211638,0.591167893863,0.00876252730474,1.04970025682
+285,4.750000000,pose2_to_pose3_retreat,0.620567457864,9.06993086932e-05,1.05003213342,0.591137909989,0.00876244564724,1.04970026435
+286,4.766666667,pose2_to_pose3_retreat,0.620527122046,9.07353975361e-05,1.05003228301,0.591097573638,0.00876247998268,1.04970041044
+287,4.783333333,pose2_to_pose3_retreat,0.62047613002,9.08371834944e-05,1.05003230435,0.591046579367,0.00876257419846,1.04970043674
+288,4.800000000,pose2_to_pose3_retreat,0.620415711562,9.08824881765e-05,1.05003217229,0.590986160308,0.0087626179623,1.04970030642
+289,4.816666667,pose2_to_pose3_retreat,0.620345823933,9.07906266274e-05,1.05003221333,0.590916273486,0.00876252853819,1.04970034696
+290,4.833333333,pose2_to_pose3_retreat,0.620266717423,9.07548615525e-05,1.05003235916,0.590837167702,0.00876249487938,1.04970049179
+291,4.850000000,pose2_to_pose3_retreat,0.620177764128,9.07793363397e-05,1.05003234104,0.590748213551,0.00876251618632,1.04970046892
+292,4.866666667,pose2_to_pose3_retreat,0.620074803195,9.06464363648e-05,1.0500322656,0.590645255541,0.00876239318876,1.04970039546
+293,4.883333333,pose2_to_pose3_retreat,0.619957877338,9.07104577198e-05,1.050032361,0.590528328599,0.00876245347636,1.04970049264
+294,4.900000000,pose2_to_pose3_retreat,0.619824089228,9.09505153885e-05,1.05003234328,0.590394538751,0.00876268765036,1.04970047649
+295,4.916666667,pose2_to_pose3_retreat,0.619674154798,9.07791624016e-05,1.05003232802,0.590244606362,0.00876252333515,1.04970046697
+296,4.933333333,pose2_to_pose3_retreat,0.619507418761,9.07151444116e-05,1.05003224294,0.590077869973,0.00876245783439,1.04970037874
+297,4.950000000,pose2_to_pose3_retreat,0.619324664278,9.07266854513e-05,1.05003216479,0.589895114261,0.00876246482033,1.04970029439
+298,4.966666667,pose2_to_pose3_retreat,0.619125984281,9.08002024986e-05,1.05003226649,0.589696434069,0.0087625375503,1.04970039698
+299,4.983333333,pose2_to_pose3_retreat,0.618909689071,9.08465370632e-05,1.05003229138,0.589480138854,0.00876258386722,1.04970042637
+300,5.000000000,pose2_to_pose3_retreat,0.618676349103,9.07892389045e-05,1.05003225617,0.589246799564,0.00876252870526,1.04970039166
+301,5.016666667,pose2_to_pose3_retreat,0.618424230571,9.07302969068e-05,1.05003230913,0.588994682109,0.00876247311759,1.04970044172
+302,5.033333333,pose2_to_pose3_retreat,0.61815365877,9.09588503753e-05,1.05003211482,0.588724106678,0.00876268931583,1.04970025153
+303,5.050000000,pose2_to_pose3_retreat,0.617864606529,9.08835168386e-05,1.05003247987,0.588435055517,0.00876261691252,1.0497006045
+304,5.066666667,pose2_to_pose3_retreat,0.617552255641,9.08133404126e-05,1.05003216469,0.588122705394,0.00876254950932,1.04970030188
+305,5.083333333,pose2_to_pose3_retreat,0.617216427997,9.07527342099e-05,1.0500321622,0.58778687886,0.00876249252584,1.0497003012
+306,5.100000000,pose2_to_pose3_retreat,0.616852422267,9.08085675083e-05,1.05003223324,0.587422872725,0.00876254660331,1.04970036549
+307,5.116666667,pose2_to_pose3_retreat,0.616461335841,9.08666113323e-05,1.05003236747,0.587031785817,0.00876260257112,1.0497004949
+308,5.133333333,pose2_to_pose3_retreat,0.616041793297,9.084377537e-05,1.05003243294,0.586612243941,0.00876258169243,1.04970056289
+309,5.150000000,pose2_to_pose3_retreat,0.615606171519,9.08157641324e-05,1.05003235095,0.586176622249,0.00876255378942,1.04970048466
+310,5.166666667,pose2_to_pose3_retreat,0.615157489747,9.08111481063e-05,1.05003233459,0.585727939287,0.00876254486538,1.04970046694
+311,5.183333333,pose2_to_pose3_retreat,0.614698246071,9.07306163905e-05,1.05003222773,0.585268697097,0.00876246912028,1.04970036018
+312,5.200000000,pose2_to_pose3_retreat,0.614225370695,9.08286851807e-05,1.05003222135,0.584795821863,0.00876256744078,1.04970035524
+313,5.216666667,pose2_to_pose3_retreat,0.613729137371,9.0751201114e-05,1.050032304,0.584299590286,0.00876249574516,1.04970044081
+314,5.233333333,pose2_to_pose3_retreat,0.613202986106,9.07592428878e-05,1.05003226538,0.583773438299,0.00876250102395,1.04970040011
+315,5.250000000,pose2_to_pose3_retreat,0.612644773378,9.08093985483e-05,1.05003224486,0.583215224633,0.00876254774065,1.04970037502
+316,5.266666667,pose2_to_pose3_retreat,0.612061818315,9.08423027527e-05,1.05003214145,0.582632269053,0.00876257890729,1.04970027198
+317,5.283333333,pose2_to_pose3_retreat,0.611461194438,9.07814898035e-05,1.05003208945,0.582031645635,0.00876251966648,1.04970021986
+318,5.300000000,pose2_to_pose3_retreat,0.610856654093,9.06848393745e-05,1.05003229727,0.581427106659,0.00876242745134,1.04970042124
+319,5.316666667,pose2_to_pose3_retreat,0.61023718353,9.08159733297e-05,1.05003234826,0.580807635026,0.00876255505582,1.04970047603
+320,5.333333333,pose2_to_pose3_retreat,0.609589450003,9.07778065524e-05,1.05003212104,0.580159901315,0.00876251637935,1.04970025202
+321,5.350000000,pose2_to_pose3_retreat,0.60891424154,9.08375621193e-05,1.05003233445,0.579484692183,0.00876257380283,1.04970046411
+322,5.366666667,pose2_to_pose3_retreat,0.608212027213,9.08950614512e-05,1.05003233657,0.578782477494,0.00876263026309,1.04970047148
+323,5.383333333,pose2_to_pose3_retreat,0.60748446234,9.09084369511e-05,1.05003244637,0.578054912942,0.00876264462194,1.04970057792
+324,5.400000000,pose2_to_pose3_retreat,0.606745188022,9.07549466067e-05,1.05003248187,0.577315640113,0.00876249613508,1.04970061287
+325,5.416666667,pose2_to_pose3_retreat,0.606006651742,9.07393502692e-05,1.05003236315,0.576577103003,0.00876247760311,1.04970049074
+326,5.433333333,pose2_to_pose3_retreat,0.605261364993,9.07706608861e-05,1.05003225319,0.575831816515,0.00876250985183,1.04970038216
+327,5.450000000,pose2_to_pose3_retreat,0.604505154764,9.0723194278e-05,1.05003230746,0.575075607923,0.00876246816084,1.04970044312
+328,5.466666667,pose2_to_pose3_retreat,0.603737991635,9.07112035365e-05,1.0500324151,0.574308443869,0.00876245312106,1.04970055284
+329,5.483333333,pose2_to_pose3_retreat,0.602960072357,9.07943722413e-05,1.05003232954,0.573530522824,0.00876253028289,1.04970046597
+330,5.500000000,pose2_to_pose3_retreat,0.602165275985,9.08144615626e-05,1.05003235884,0.572735727674,0.00876255440916,1.04970049091
+331,5.516666667,pose2_to_pose3_retreat,0.601362074139,9.08449363358e-05,1.0500324916,0.571932525075,0.00876258223144,1.04970062214
+332,5.533333333,pose2_to_pose3_retreat,0.600558048443,9.09798019298e-05,1.05003218606,0.57112849744,0.00876271031203,1.04970031107
+333,5.550000000,pose2_to_pose3_retreat,0.599748127912,9.07967816062e-05,1.05003219482,0.570318580836,0.00876254094967,1.04970033009
+334,5.566666667,pose2_to_pose3_retreat,0.598932145648,9.061120217e-05,1.05003240691,0.569502600191,0.0087623608973,1.04970054082
+335,5.583333333,pose2_to_pose3_retreat,0.598124312264,9.07404579381e-05,1.05003247363,0.568694765155,0.00876248447382,1.04970060661
+336,5.600000000,pose2_to_pose3_retreat,0.597323201899,9.08311537923e-05,1.05003248562,0.567893653266,0.00876256982736,1.04970061441
+337,5.616666667,pose2_to_pose3_retreat,0.596529819717,9.07791532344e-05,1.05003231271,0.56710027065,0.00876251656307,1.04970044605
+338,5.633333333,pose2_to_pose3_retreat,0.595735518036,9.07410535107e-05,1.05003210257,0.566305969274,0.00876247990041,1.04970024646
+339,5.650000000,pose2_to_pose3_retreat,0.594931568159,9.07400833117e-05,1.05003225543,0.565502020577,0.00876248280784,1.04970039589
+340,5.666666667,pose2_to_pose3_retreat,0.59412269778,9.0658609259e-05,1.05003243175,0.564693150934,0.00876240359866,1.04970056603
+341,5.683333333,pose2_to_pose3_retreat,0.593310851579,9.08849977837e-05,1.05003223224,0.563881301383,0.00876261850983,1.04970036379
+342,5.700000000,pose2_to_pose3_retreat,0.59250812156,9.09380267209e-05,1.05003208944,0.56307856878,0.00876266297419,1.0497002277
+343,5.716666667,pose2_to_pose3_retreat,0.591727882768,9.07009005151e-05,1.05003223134,0.562298334677,0.00876244166709,1.04970036446
+344,5.733333333,pose2_to_pose3_retreat,0.59098249089,9.06484768725e-05,1.05003223285,0.561552943031,0.00876238998485,1.04970036439
+345,5.750000000,pose2_to_pose3_retreat,0.590258768707,9.0757104418e-05,1.05003223939,0.560829221052,0.00876249927837,1.04970036997
+346,5.766666667,pose2_to_pose3_retreat,0.589550922926,9.07111838036e-05,1.05003231298,0.560121375577,0.00876245430292,1.04970044287
+347,5.783333333,pose2_to_pose3_retreat,0.588845624686,9.06722563933e-05,1.05003242507,0.55941607678,0.00876241337608,1.04970055302
+348,5.800000000,pose2_to_pose3_retreat,0.588141959103,9.07274649865e-05,1.05003244356,0.558712410545,0.00876246643021,1.04970057206
+349,5.816666667,pose2_to_pose3_retreat,0.587437271714,9.0756199197e-05,1.05003228073,0.558007723597,0.0087624968923,1.04970041421
+350,5.833333333,pose2_to_pose3_retreat,0.586742104393,9.07737169464e-05,1.05003218402,0.557312556152,0.0087625139567,1.04970031653
+351,5.850000000,pose2_to_pose3_retreat,0.586066347819,9.07969392369e-05,1.05003246842,0.556636798921,0.00876253473829,1.04970059552
+352,5.866666667,pose2_to_pose3_retreat,0.585416773138,9.06971249071e-05,1.05003224819,0.555987225385,0.00876243905245,1.04970038145
+353,5.883333333,pose2_to_pose3_retreat,0.584796588192,9.09590688408e-05,1.05003246991,0.555367037719,0.00876269160272,1.04970059903
+354,5.900000000,pose2_to_pose3_retreat,0.584209447773,9.07497962749e-05,1.05003224883,0.554779898909,0.00876248814211,1.04970038709
+355,5.916666667,pose2_to_pose3_retreat,0.583648527948,9.06849787568e-05,1.05003213906,0.554218979633,0.00876242507278,1.04970027415
+356,5.933333333,pose2_to_pose3_retreat,0.583105666725,9.07597392718e-05,1.05003220467,0.553676117946,0.00876249797067,1.04970033223
+357,5.950000000,pose2_to_pose3_retreat,0.582574189939,9.08251045566e-05,1.05003231987,0.553144640872,0.00876256230537,1.04970044602
+358,5.966666667,pose2_to_pose3_retreat,0.582053631273,9.08147497771e-05,1.05003233286,0.552624082483,0.00876255299248,1.04970046167
+359,5.983333333,pose2_to_pose3_retreat,0.581551753135,9.07595701842e-05,1.0500322098,0.552122205291,0.00876250112188,1.04970034113
+360,6.000000000,pose2_to_pose3_retreat,0.58107123442,9.06680384331e-05,1.0500321435,0.551641688584,0.0087624167047,1.04970028288
+361,6.016666667,pose2_to_pose3_retreat,0.58061784018,9.06629841315e-05,1.05003244942,0.551188293858,0.00876240958018,1.04970057853
+362,6.033333333,pose2_to_pose3_retreat,0.580187509164,9.07391261837e-05,1.05003211778,0.550757960571,0.00876247824473,1.04970025286
+363,6.050000000,pose2_to_pose3_retreat,0.579778473582,9.06722472772e-05,1.05003221803,0.550348927533,0.00876241990854,1.04970035089
+364,6.066666667,pose2_to_pose3_retreat,0.579385697117,9.07422217358e-05,1.05003214906,0.549956147861,0.00876247884299,1.04970027708
+365,6.083333333,pose2_to_pose3_retreat,0.579008947441,9.08083437917e-05,1.05003239441,0.549579396519,0.00876253934024,1.04970052292
+366,6.100000000,pose2_to_pose3_retreat,0.578658361582,9.07365627595e-05,1.05003221065,0.549228812714,0.0087624748231,1.04970034713
+367,6.116666667,pose2_to_pose3_retreat,0.578335488946,9.07242254546e-05,1.050032151,0.548905940977,0.00876246563815,1.04970029019
+368,6.133333333,pose2_to_pose3_retreat,0.578045321829,9.08161898239e-05,1.05003240938,0.548615772178,0.00876255161367,1.04970054119
+369,6.150000000,pose2_to_pose3_retreat,0.577783708006,9.08307640441e-05,1.05003255216,0.548354158183,0.00876256524773,1.04970067485
+370,6.166666667,pose2_to_pose3_retreat,0.577549627164,9.07223196515e-05,1.05003237667,0.548120079519,0.00876246412132,1.04970049762
+371,6.183333333,pose2_to_pose3_retreat,0.577329862865,9.07621002839e-05,1.05003224393,0.547900312406,0.00876249470659,1.04970037376
+372,6.200000000,pose2_to_pose3_retreat,0.577123059548,9.07681646104e-05,1.05003242544,0.547693511637,0.00876250965809,1.04970056156
+373,6.216666667,pose2_to_pose3_retreat,0.576929033025,9.06534700945e-05,1.05003240271,0.547499486788,0.00876240034094,1.04970053093
+374,6.233333333,pose2_to_pose3_retreat,0.576748668153,9.07451026208e-05,1.05003235724,0.547319120502,0.00876248733495,1.04970048982
+375,6.250000000,pose2_to_pose3_retreat,0.5765853928,9.07154494319e-05,1.05003234862,0.547155846034,0.00876246071044,1.04970048196
+376,6.266666667,pose2_to_pose3_retreat,0.576439709404,9.06917235003e-05,1.05003235688,0.547010162583,0.00876243666481,1.04970048679
+377,6.283333333,pose2_to_pose3_retreat,0.576312402222,9.07147822261e-05,1.05003236781,0.54688285468,0.00876245720851,1.0497004958
+378,6.300000000,pose2_to_pose3_retreat,0.576202346819,9.07375289155e-05,1.05003236311,0.546772799517,0.00876248085617,1.0497004934
+379,6.316666667,pose2_to_pose3_retreat,0.57610756307,9.08568744496e-05,1.05003230465,0.546678014099,0.00876259485219,1.04970044329
+380,6.333333333,pose2_to_pose3_retreat,0.576024270112,9.0831773887e-05,1.05003218131,0.546594720283,0.00876256704524,1.04970032612
+381,6.350000000,pose2_to_pose3_retreat,0.575951745779,9.08862377e-05,1.05003248975,0.546522194787,0.00876261667208,1.04970061107
+382,6.366666667,pose2_to_pose3_retreat,0.575890052329,9.08620950904e-05,1.05003255579,0.546460503318,0.00876259976773,1.04970069058
+383,6.383333333,pose2_to_pose3_retreat,0.575836629166,9.09023337501e-05,1.05003261609,0.546407079177,0.00876263641659,1.04970074376
+384,6.400000000,pose2_to_pose3_retreat,0.575791691295,9.08078344755e-05,1.05003237821,0.546362143085,0.00876254806874,1.0497005088
+385,6.416666667,pose2_to_pose3_retreat,0.575756324252,9.07114752007e-05,1.05003222292,0.546326777256,0.00876245602788,1.04970035877
+386,6.433333333,pose2_to_pose3_retreat,0.575729265869,9.06744554683e-05,1.0500322926,0.546299718757,0.00876241847776,1.04970042494
+387,6.450000000,pose2_to_pose3_retreat,0.575709689622,9.06847477447e-05,1.05003225197,0.546280142239,0.00876242778574,1.04970038265
+388,6.466666667,pose2_to_pose3_retreat,0.575695589524,9.07442070647e-05,1.05003201849,0.546266041497,0.00876248527619,1.049700155
+389,6.483333333,pose2_to_pose3_retreat,0.575686004918,9.07772080052e-05,1.05003236234,0.546256456942,0.00876251841427,1.04970049796
+390,6.500000000,pose2_to_pose3_retreat,0.575678988025,9.07730778392e-05,1.05003239552,0.546249440042,0.00876251431188,1.04970053232
+391,6.516666667,pose2_to_pose3_retreat,0.575674209387,9.07668183753e-05,1.05003231733,0.546244661289,0.0087625077113,1.04970045508
+392,6.533333333,pose2_to_pose3_retreat,0.575671169347,9.083187307e-05,1.05003219902,0.54624162045,0.00876256987519,1.04970033222
+393,6.550000000,pose2_to_pose3_retreat,0.575669337067,9.0871082541e-05,1.05003212771,0.546239787688,0.00876260734232,1.04970025817
+394,6.566666667,pose2_to_pose3_retreat,0.575668480452,9.08259322272e-05,1.05003211626,0.546238931762,0.00876256459112,1.04970024835
+395,6.583333333,pose2_to_pose3_retreat,0.575667941601,9.07932689722e-05,1.05003211052,0.546238393405,0.00876253365276,1.04970024384
+396,6.600000000,pose2_to_pose3_retreat,0.575667527362,9.07681592639e-05,1.0500321061,0.546237979546,0.00876250986906,1.04970024037
+397,6.616666667,pose2_to_pose3_retreat,0.575667218511,9.07494378086e-05,1.05003210282,0.546237670979,0.00876249213626,1.04970023779
+398,6.633333333,pose2_to_pose3_retreat,0.575667083602,9.07412600902e-05,1.05003210138,0.546237536193,0.00876248439039,1.04970023666
+399,6.650000000,pose2_to_pose3_retreat,0.575667070489,9.07404652681e-05,1.05003210124,0.546237523093,0.00876248363754,1.04970023655
+400,6.666666667,pose2_to_pose3_retreat,0.57566699193,9.07357033018e-05,1.0500321004,0.546237444606,0.00876247912705,1.04970023589
+401,6.683333333,pose2_to_pose3_retreat,0.575666900747,9.07301760857e-05,1.05003209943,0.546237353506,0.00876247389172,1.04970023513
+402,6.700000000,pose2_to_pose3_retreat,0.575666791633,9.07235619961e-05,1.05003209827,0.546237244493,0.00876246762691,1.04970023422
+403,6.716666667,pose2_to_pose3_retreat,0.575666550771,9.07089618057e-05,1.0500320957,0.546237003852,0.00876245379773,1.0497002322
+404,6.733333333,pose2_to_pose3_retreat,0.575666330902,9.0695634082e-05,1.05003209336,0.546236784184,0.00876244117382,1.04970023036
+405,6.750000000,pose2_to_pose3_retreat,0.575666285426,9.06928775313e-05,1.05003209288,0.54623673875,0.00876243856284,1.04970022998
+406,6.766666667,pose2_to_pose3_retreat,0.575666028206,9.06878541918e-05,1.05003210934,0.546236481567,0.00876243369542,1.0497002472
+407,6.783333333,pose2_to_pose3_retreat,0.575665730348,9.06846711248e-05,1.05003213318,0.546236183702,0.00876243052655,1.04970027198
+408,6.800000000,pose2_to_pose3_retreat,0.57566547534,9.06819459832e-05,1.0500321536,0.546235928689,0.00876242781357,1.04970029319
+409,6.816666667,pose2_to_pose3_retreat,0.575665325722,9.06803470826e-05,1.05003216557,0.546235779067,0.0087624262218,1.04970030563
+410,6.833333333,pose2_to_pose3_retreat,0.575665294276,9.06800110343e-05,1.05003216809,0.546235747621,0.00876242588725,1.04970030825
+411,6.850000000,pose2_to_pose3_retreat,0.575665276812,9.06798244115e-05,1.05003216949,0.546235730157,0.00876242570146,1.0497003097
+412,6.866666667,pose2_to_pose3_retreat,0.575665182894,9.06788207502e-05,1.05003217701,0.546235636236,0.00876242470228,1.04970031751
+413,6.883333333,pose2_to_pose3_retreat,0.575664844537,9.07388429097e-05,1.05003219933,0.546235296972,0.00876248162011,1.0497003392
+414,6.900000000,pose2_to_pose3_retreat,0.575664627436,9.08329923799e-05,1.05003220949,0.546235078501,0.0087625710496,1.04970034746
+415,6.916666667,pose2_to_pose3_retreat,0.575664584249,9.08517209343e-05,1.05003221151,0.546235035042,0.00876258883924,1.04970034911
+416,6.933333333,pose2_to_pose3_retreat,0.575664569472,9.08581290499e-05,1.0500322122,0.546235020172,0.0087625949261,1.04970034967
+417,6.950000000,pose2_to_pose3_retreat,0.575664532155,9.08743125266e-05,1.05003221395,0.546234982619,0.00876261029825,1.04970035109
+418,6.966666667,pose2_to_pose3_retreat,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570645,1.04970062959

Part2/Obstacle_avoidance/cylinder_0050_17.5/position_01/depth_05/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7efcfb4afe1db3dc91094ad5b551f621068f20c7b7ebf27a81e880e01ee4c56f
+size 26690196

Part2/Obstacle_avoidance/cylinder_0050_17.5/position_01/depth_05/simulation_data.csv

@@ -0,0 +1,421 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+1,0.016666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+2,0.033333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+3,0.050000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+4,0.066666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+5,0.083333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+6,0.100000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+7,0.116666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+8,0.133333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+9,0.150000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+10,0.166666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+11,0.183333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+12,0.200000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+13,0.216666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+14,0.233333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+15,0.250000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+16,0.266666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+17,0.283333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+18,0.300000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+19,0.316666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+20,0.333333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+21,0.350000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+22,0.366666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+23,0.383333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+24,0.400000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+25,0.416666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+26,0.433333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+27,0.450000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+28,0.466666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+29,0.483333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+30,0.500000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+31,0.516666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+32,0.533333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+33,0.550000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+34,0.566666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+35,0.583333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+36,0.600000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+37,0.616666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+38,0.633333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+39,0.650000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+40,0.666666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+41,0.683333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+42,0.700000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+43,0.716666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+44,0.733333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+45,0.750000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+46,0.766666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+47,0.783333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+48,0.800000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+49,0.816666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+50,0.833333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+51,0.850000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+52,0.866666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+53,0.883333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+54,0.900000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+55,0.916666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+56,0.933333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+57,0.950000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+58,0.966666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+59,0.983333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+60,1.000000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+61,1.016666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+62,1.033333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+63,1.050000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+64,1.066666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+65,1.083333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+66,1.100000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+67,1.116666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+68,1.133333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+69,1.150000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+70,1.166666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+71,1.183333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+72,1.200000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+73,1.216666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+74,1.233333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+75,1.250000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+76,1.266666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+77,1.283333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+78,1.300000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+79,1.316666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+80,1.333333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+81,1.350000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+82,1.366666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+83,1.383333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+84,1.400000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+85,1.416666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+86,1.433333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+87,1.450000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+88,1.466666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+89,1.483333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+90,1.500000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+91,1.516666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+92,1.533333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+93,1.550000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+94,1.566666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+95,1.583333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+96,1.600000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+97,1.616666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+98,1.633333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+99,1.650000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+100,1.666666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+101,1.683333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+102,1.700000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+103,1.716666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+104,1.733333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+105,1.750000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+106,1.766666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+107,1.783333333,pose1_to_pose2_press,0.575664459085,9.09086622389e-05,1.05003226221,0.546234907976,0.00876263890266,1.04970038877
+108,1.800000000,pose1_to_pose2_press,0.575664467018,9.09048479228e-05,1.05003225554,0.546234916115,0.00876263584475,1.04970038356
+109,1.816666667,pose1_to_pose2_press,0.575664471722,9.0902586161e-05,1.05003225158,0.546234920942,0.00876263403151,1.04970038048
+110,1.833333333,pose1_to_pose2_press,0.575664472399,9.09022606169e-05,1.05003225101,0.546234921637,0.00876263377053,1.04970038003
+111,1.850000000,pose1_to_pose2_press,0.575664539431,9.08716325968e-05,1.05003221513,0.546234989955,0.00876260780876,1.04970035197
+112,1.866666667,pose1_to_pose2_press,0.57566492193,9.07133758127e-05,1.05003222169,0.546235375086,0.00876245838359,1.04970035583
+113,1.883333333,pose1_to_pose2_press,0.575665399053,9.06765779139e-05,1.05003226731,0.546235852706,0.00876242317839,1.04970039909
+114,1.900000000,pose1_to_pose2_press,0.575666643698,9.07627996451e-05,1.05003235246,0.546237095866,0.00876250429002,1.04970048238
+115,1.916666667,pose1_to_pose2_press,0.575670034702,9.10016951631e-05,1.05003221999,0.546240484042,0.00876273401225,1.04970036102
+116,1.933333333,pose1_to_pose2_press,0.575678976919,9.07867977356e-05,1.05003226583,0.546249428539,0.00876252665209,1.04970040156
+117,1.950000000,pose1_to_pose2_press,0.575695218977,9.06741735806e-05,1.05003216774,0.546265672841,0.00876242201701,1.04970031309
+118,1.966666667,pose1_to_pose2_press,0.575722324988,9.08485734334e-05,1.05003230247,0.546292774862,0.00876258245012,1.04970043663
+119,1.983333333,pose1_to_pose2_press,0.575760141024,9.06851483864e-05,1.05003220942,0.546330594295,0.00876243074157,1.04970034847
+120,2.000000000,pose1_to_pose2_press,0.575809915716,9.07945424847e-05,1.05003224742,0.546380368052,0.00876253692273,1.04970038527
+121,2.016666667,pose1_to_pose2_press,0.575868543448,9.07523070317e-05,1.05003231438,0.546438995649,0.00876249435663,1.04970045553
+122,2.033333333,pose1_to_pose2_press,0.575935627351,9.0794230529e-05,1.05003235984,0.546506078581,0.00876253259346,1.04970049068
+123,2.050000000,pose1_to_pose2_press,0.576010973662,9.08629364352e-05,1.05003229693,0.546581424636,0.00876260044743,1.04970042822
+124,2.066666667,pose1_to_pose2_press,0.57609461408,9.08165697379e-05,1.05003226657,0.5466650666,0.00876255958466,1.04970040447
+125,2.083333333,pose1_to_pose2_press,0.576188942464,9.06915317673e-05,1.05003223904,0.546759396679,0.00876244036369,1.04970037857
+126,2.100000000,pose1_to_pose2_press,0.576295118413,9.06684341573e-05,1.05003211795,0.546865572412,0.0087624165262,1.04970025733
+127,2.116666667,pose1_to_pose2_press,0.576415868592,9.07976236726e-05,1.05003222504,0.546986319207,0.00876253406168,1.04970035996
+128,2.133333333,pose1_to_pose2_press,0.576551958393,9.08163816108e-05,1.05003228245,0.54712240957,0.00876255452106,1.04970041195
+129,2.150000000,pose1_to_pose2_press,0.576704182755,9.08453203601e-05,1.05003248711,0.547274634226,0.00876258449939,1.04970061761
+130,2.166666667,pose1_to_pose2_press,0.576872390065,9.07590036905e-05,1.05003249541,0.547442840425,0.00876249432227,1.04970062353
+131,2.183333333,pose1_to_pose2_press,0.577056809331,9.07209662265e-05,1.05003224315,0.547627260815,0.00876246039977,1.04970037901
+132,2.200000000,pose1_to_pose2_press,0.577260217257,9.07620922885e-05,1.05003209941,0.547830669943,0.00876250585045,1.04970024166
+133,2.216666667,pose1_to_pose2_press,0.577482207512,9.07651439895e-05,1.0500321946,0.54805266105,0.00876251157919,1.04970033119
+134,2.233333333,pose1_to_pose2_press,0.57772399231,9.06885274568e-05,1.05003257691,0.548294446553,0.00876243705268,1.04970070551
+135,2.250000000,pose1_to_pose2_press,0.577983505936,9.07486627155e-05,1.05003257688,0.548553958148,0.0087624903631,1.04970070714
+136,2.266666667,pose1_to_pose2_press,0.578259604372,9.08555756147e-05,1.05003235809,0.548830054078,0.00876258879022,1.0497004888
+137,2.283333333,pose1_to_pose2_press,0.578550481805,9.08563369185e-05,1.05003233852,0.5491209322,0.00876259189791,1.04970046942
+138,2.300000000,pose1_to_pose2_press,0.578857839456,9.07857645452e-05,1.05003240378,0.549428291672,0.00876252760564,1.04970053717
+139,2.316666667,pose1_to_pose2_press,0.57918957377,9.07638659613e-05,1.05003227115,0.549760024473,0.00876250041308,1.0497004004
+140,2.333333333,pose1_to_pose2_press,0.579550894252,9.07719048781e-05,1.05003239448,0.550121345581,0.00876251059779,1.04970052421
+141,2.350000000,pose1_to_pose2_press,0.579946866166,9.06842263955e-05,1.05003258413,0.55051732013,0.00876243188456,1.04970071437
+142,2.366666667,pose1_to_pose2_press,0.580374108367,9.06530805096e-05,1.0500322812,0.550944561198,0.00876239656162,1.04970040271
+143,2.383333333,pose1_to_pose2_press,0.580828208798,9.07282932319e-05,1.05003236877,0.551398660501,0.00876246825674,1.04970049835
+144,2.400000000,pose1_to_pose2_press,0.581297609423,9.07302915666e-05,1.05003248353,0.55186806146,0.00876247140914,1.04970061356
+145,2.416666667,pose1_to_pose2_press,0.5817782212,9.08077333172e-05,1.05003237633,0.552348672386,0.00876254589983,1.04970050477
+146,2.433333333,pose1_to_pose2_press,0.582269064591,9.077710948e-05,1.050032436,0.552839514319,0.00876251065691,1.04970057285
+147,2.450000000,pose1_to_pose2_press,0.582778911865,9.07950442372e-05,1.05003230143,0.553349361308,0.00876252732094,1.04970043035
+148,2.466666667,pose1_to_pose2_press,0.583312652047,9.07662927307e-05,1.05003240965,0.553883103619,0.0087625058194,1.0497005392
+149,2.483333333,pose1_to_pose2_press,0.583871127692,9.08555891054e-05,1.05003232786,0.55444157822,0.00876259165587,1.04970045952
+150,2.500000000,pose1_to_pose2_press,0.584451302897,9.09736741222e-05,1.05003228563,0.555021751758,0.00876270426126,1.04970042183
+151,2.516666667,pose1_to_pose2_press,0.58504817452,9.0993102646e-05,1.05003227719,0.555618622916,0.00876272212091,1.0497004136
+152,2.533333333,pose1_to_pose2_press,0.585652294911,9.09244920235e-05,1.05003216754,0.556222744,0.00876265583506,1.04970030322
+153,2.550000000,pose1_to_pose2_press,0.586259275307,9.08427850652e-05,1.05003212284,0.556829725857,0.00876257915975,1.04970026037
+154,2.566666667,pose1_to_pose2_press,0.586890299525,9.08288899904e-05,1.05003223961,0.557460750643,0.00876256691661,1.04970036996
+155,2.583333333,pose1_to_pose2_press,0.58755188295,9.08989369139e-05,1.0500322926,0.558122334074,0.00876263669076,1.04970041526
+156,2.600000000,pose1_to_pose2_press,0.588240350352,9.07238543556e-05,1.05003226425,0.558810801704,0.00876246263039,1.04970039331
+157,2.616666667,pose1_to_pose2_press,0.588954066563,9.09716084928e-05,1.05003251584,0.559524513956,0.0087626966254,1.04970063649
+158,2.633333333,pose1_to_pose2_press,0.589689162872,9.072505468e-05,1.05003236963,0.560259616306,0.00876247089908,1.04970049878
+159,2.650000000,pose1_to_pose2_press,0.590427203356,9.07273926018e-05,1.05003246894,0.560997654843,0.00876246675801,1.04970060143
+160,2.666666667,pose1_to_pose2_press,0.591163719077,9.07381246646e-05,1.05003270268,0.561734171285,0.00876247974075,1.04970083003
+161,2.683333333,pose1_to_pose2_press,0.591900565337,9.08069653378e-05,1.05003235255,0.562471017391,0.00876254808832,1.04970048062
+162,2.700000000,pose1_to_pose2_press,0.592638828352,9.08490066573e-05,1.05003238496,0.563209280035,0.00876258910397,1.04970051922
+163,2.716666667,pose1_to_pose2_press,0.593380536855,9.08106250229e-05,1.0500322453,0.563950989264,0.00876255326539,1.04970038159
+164,2.733333333,pose1_to_pose2_press,0.594132475534,9.07423987241e-05,1.05003211324,0.564702927509,0.00876248344665,1.04970024649
+165,2.750000000,pose1_to_pose2_press,0.594905802225,9.07379202365e-05,1.05003222451,0.56547625322,0.00876247553665,1.04970035495
+166,2.766666667,pose1_to_pose2_press,0.595700165407,9.07635976691e-05,1.0500324132,0.566270617279,0.0087625041316,1.04970054215
+167,2.783333333,pose1_to_pose2_press,0.596515217355,9.07722873832e-05,1.05003244939,0.567085669437,0.00876251355957,1.0497005791
+168,2.800000000,pose1_to_pose2_press,0.597343898643,9.08049653546e-05,1.05003236913,0.567914349099,0.00876254099889,1.04970050612
+169,2.816666667,pose1_to_pose2_press,0.598174716035,9.0686032966e-05,1.05003245813,0.568745168198,0.00876242774783,1.04970059221
+170,2.833333333,pose1_to_pose2_press,0.598991174228,9.07143437567e-05,1.05003250932,0.56956162556,0.00876245280013,1.0497006321
+171,2.850000000,pose1_to_pose2_press,0.599789130899,9.07390468104e-05,1.05003248324,0.570359583088,0.00876248039919,1.04970060562
+172,2.866666667,pose1_to_pose2_press,0.600564241791,9.07622721566e-05,1.05003225334,0.571134694517,0.00876250572024,1.04970038295
+173,2.883333333,pose1_to_pose2_press,0.601335265128,9.09408502193e-05,1.05003235683,0.571905714324,0.00876267235698,1.0497004876
+174,2.900000000,pose1_to_pose2_press,0.602106565175,9.08203445786e-05,1.05003225739,0.57267701434,0.00876255174685,1.04970038816
+175,2.916666667,pose1_to_pose2_press,0.602888811467,9.08174763765e-05,1.05003223404,0.573459261961,0.00876255348521,1.04970036736
+176,2.933333333,pose1_to_pose2_press,0.603680703515,9.08058438291e-05,1.05003232969,0.574251155169,0.00876254572372,1.04970046141
+177,2.950000000,pose1_to_pose2_press,0.60447579755,9.07651672665e-05,1.05003243164,0.575046251589,0.00876251320749,1.0497005651
+178,2.966666667,pose1_to_pose2_press,0.605258412406,9.08139436422e-05,1.05003221378,0.575828864947,0.00876255692914,1.04970034814
+179,2.983333333,pose1_to_pose2_press,0.606022384729,9.08167177797e-05,1.05003233792,0.576592835783,0.00876255455089,1.04970046962
+180,3.000000000,pose1_to_pose2_press,0.606761350429,9.08145794711e-05,1.05003238983,0.577331801911,0.00876255401677,1.04970052552
+181,3.016666667,pose1_to_pose2_press,0.607480048933,9.08279453584e-05,1.05003240992,0.578050499749,0.00876256500295,1.0497005426
+182,3.033333333,pose1_to_pose2_press,0.608181225784,9.08810699538e-05,1.05003245481,0.578751675407,0.00876261380143,1.04970058025
+183,3.050000000,pose1_to_pose2_press,0.608872062008,9.09125749373e-05,1.05003229216,0.579442511875,0.00876264626842,1.04970042132
+184,3.066666667,pose1_to_pose2_press,0.60955777553,9.07701429244e-05,1.05003210237,0.580128226512,0.00876250784149,1.04970023729
+185,3.083333333,pose1_to_pose2_press,0.610231907688,9.06633713471e-05,1.05003218013,0.580802360554,0.00876240737694,1.0497003129
+186,3.100000000,pose1_to_pose2_press,0.610894919732,9.08382067124e-05,1.05003247685,0.581465370026,0.0087625733352,1.04970060586
+187,3.116666667,pose1_to_pose2_press,0.611538060608,9.08381372367e-05,1.05003237943,0.582108511658,0.00876257581554,1.04970050816
+188,3.133333333,pose1_to_pose2_press,0.612156196266,9.09504677701e-05,1.05003245877,0.582726646798,0.00876268658614,1.04970059318
+189,3.150000000,pose1_to_pose2_press,0.612740057775,9.06055775698e-05,1.05003224166,0.583310511744,0.00876235349171,1.04970037802
+190,3.166666667,pose1_to_pose2_press,0.613295865284,9.07839780975e-05,1.05003220511,0.583866317318,0.00876252553094,1.04970034371
+191,3.183333333,pose1_to_pose2_press,0.613826133678,9.07580743702e-05,1.05003240686,0.584396585538,0.00876249888259,1.04970053602
+192,3.200000000,pose1_to_pose2_press,0.614343699172,9.08100342783e-05,1.05003220672,0.584914149231,0.00876254510972,1.04970033901
+193,3.216666667,pose1_to_pose2_press,0.614849630564,9.08815275989e-05,1.05003214511,0.58542007924,0.00876261228055,1.04970027979
+194,3.233333333,pose1_to_pose2_press,0.615342109585,9.08159149271e-05,1.05003228558,0.58591255926,0.00876255006992,1.04970041257
+195,3.250000000,pose1_to_pose2_press,0.615815171974,9.07272144284e-05,1.05003222491,0.586385622704,0.00876246509322,1.04970034718
+196,3.266666667,pose1_to_pose2_press,0.616261430252,9.08007871744e-05,1.05003241504,0.586831880312,0.00876253673218,1.04970053872
+197,3.283333333,pose1_to_pose2_press,0.616684828536,9.08668019051e-05,1.05003249757,0.587255278556,0.00876260298259,1.04970062341
+198,3.300000000,pose1_to_pose2_press,0.617087324124,9.09064292582e-05,1.05003235781,0.587657774164,0.0087626431577,1.04970049077
+199,3.316666667,pose1_to_pose2_press,0.617474527153,9.07514535484e-05,1.05003248277,0.588044979168,0.00876249496277,1.04970060926
+200,3.333333333,pose1_to_pose2_press,0.617849080664,9.08334794006e-05,1.05003235033,0.588419532229,0.00876257631178,1.0497004915
+201,3.350000000,pose1_to_pose2_press,0.618212140273,9.07924472002e-05,1.05003215967,0.588782590693,0.00876253150603,1.04970029736
+202,3.366666667,pose1_to_pose2_press,0.61855521501,9.07625501921e-05,1.05003212822,0.589125664956,0.00876249993149,1.04970025696
+203,3.383333333,pose1_to_pose2_press,0.61887051572,9.08343593574e-05,1.05003217807,0.589440965565,0.00876257186414,1.04970031225
+204,3.400000000,pose1_to_pose2_press,0.619156255462,9.08930963022e-05,1.05003220663,0.589726705169,0.00876263052757,1.04970034522
+205,3.416666667,pose1_to_pose2_press,0.619413144253,9.08963000302e-05,1.05003224756,0.589983594099,0.00876263442492,1.04970038666
+206,3.433333333,pose1_to_pose2_press,0.619647084446,9.09071202047e-05,1.0500322608,0.590217534488,0.00876264624221,1.04970040363
+207,3.450000000,pose1_to_pose2_press,0.619865326546,9.09758832471e-05,1.05003206926,0.590435775695,0.00876271224862,1.04970021374
+208,3.466666667,pose1_to_pose2_press,0.620072840678,9.07516598163e-05,1.05003216368,0.590643290151,0.00876248939058,1.04970030931
+209,3.483333333,pose1_to_pose2_press,0.620269698515,9.06474912943e-05,1.05003223036,0.590840150686,0.00876239398047,1.04970036276
+210,3.500000000,pose1_to_pose2_press,0.620454384249,9.09781693117e-05,1.05003233038,0.591024832897,0.00876271268685,1.04970046126
+211,3.516666667,pose1_to_pose2_press,0.62062304053,9.09143259469e-05,1.0500320633,0.591193489067,0.00876264898176,1.04970020278
+212,3.533333333,pose1_to_pose2_press,0.620775463144,9.07465995439e-05,1.05003230323,0.59134591294,0.00876248539472,1.04970043489
+213,3.550000000,pose1_to_pose2_press,0.620909707517,9.07699496754e-05,1.05003234355,0.591480158706,0.00876251353416,1.04970047385
+214,3.566666667,pose1_to_pose2_press,0.621028368325,9.08380062395e-05,1.05003225173,0.591598818507,0.00876257817371,1.04970037982
+215,3.583333333,pose1_to_pose2_press,0.621131754214,9.08377838043e-05,1.05003225571,0.591702202777,0.00876257247704,1.04970038193
+216,3.600000000,pose1_to_pose2_press,0.621220936085,9.08076269709e-05,1.05003225596,0.591791385132,0.00876254434923,1.04970038962
+217,3.616666667,pose1_to_pose2_press,0.621296480345,9.07878206629e-05,1.05003233926,0.591866930077,0.00876252700854,1.04970047479
+218,3.633333333,pose1_to_pose2_press,0.621360858027,9.08460929604e-05,1.05003239064,0.591931307636,0.00876258448972,1.04970051523
+219,3.650000000,pose1_to_pose2_press,0.621415665407,9.072734405e-05,1.05003237591,0.591986116871,0.00876247206318,1.0497005047
+220,3.666666667,pose1_to_pose2_press,0.621461958441,9.07316600352e-05,1.05003228719,0.592032409535,0.00876247520794,1.0497004172
+221,3.683333333,pose1_to_pose2_press,0.621501723086,9.07794750019e-05,1.05003230205,0.592072173492,0.0087625207781,1.04970043296
+222,3.700000000,pose1_to_pose2_press,0.621535473036,9.07343591143e-05,1.05003233653,0.592105923791,0.00876247730538,1.04970047177
+223,3.716666667,pose1_to_pose2_press,0.621563369624,9.0666458116e-05,1.05003225423,0.592133820597,0.00876241057172,1.04970039362
+224,3.733333333,pose1_to_pose2_press,0.621585524681,9.08499286353e-05,1.0500321283,0.592155973184,0.00876258495141,1.04970026178
+225,3.750000000,pose1_to_pose2_press,0.62160235339,9.0960628012e-05,1.05003236026,0.592172802102,0.00876269647887,1.04970048917
+226,3.766666667,pose1_to_pose2_press,0.621614477882,9.07587456663e-05,1.05003245558,0.592184928551,0.00876250129959,1.0497005842
+227,3.783333333,pose1_to_pose2_press,0.621622008759,9.07557983214e-05,1.05003230504,0.592192459887,0.00876249998323,1.04970043958
+228,3.800000000,pose1_to_pose2_press,0.621626886959,9.0820412135e-05,1.05003210608,0.592197337971,0.00876256427135,1.04970024736
+229,3.816666667,pose1_to_pose2_press,0.621629713237,9.07578430885e-05,1.05003219263,0.592200164743,0.00876250330229,1.0497003322
+230,3.833333333,pose1_to_pose2_press,0.62163179548,9.06814815984e-05,1.05003231748,0.592202247519,0.00876242866089,1.04970045409
+231,3.850000000,pose1_to_pose2_press,0.621633419869,9.06219108218e-05,1.05003241487,0.592203872325,0.00876237043199,1.04970054917
+232,3.866666667,pose1_to_pose2_press,0.621634805127,9.06053271021e-05,1.05003246283,0.592205257518,0.00876235363309,1.04970059661
+233,3.883333333,pose1_to_pose2_press,0.621635912877,9.06348547519e-05,1.0500324573,0.592206364694,0.00876238128858,1.04970059248
+234,3.900000000,pose1_to_pose2_press,0.621636755336,9.06573109115e-05,1.0500324531,0.592207206716,0.00876240232095,1.04970058934
+235,3.916666667,pose1_to_pose2_press,0.621637124329,9.06671466321e-05,1.05003245126,0.592207575518,0.00876241153305,1.04970058796
+236,3.933333333,pose1_to_pose2_press,0.621637186366,9.06688002587e-05,1.05003245095,0.592207637523,0.00876241308183,1.04970058773
+237,3.950000000,pose1_to_pose2_press,0.621637242099,9.06702858294e-05,1.05003245067,0.592207693226,0.00876241447321,1.04970058752
+238,3.966666667,pose1_to_pose2_press,0.621637356725,9.06733412552e-05,1.0500324501,0.592207807793,0.00876241733491,1.04970058709
+239,3.983333333,pose1_to_pose2_press,0.621637379625,9.06739516768e-05,1.05003244998,0.592207830682,0.00876241790663,1.04970058701
+240,4.000000000,pose1_to_pose2_press,0.621637594659,9.06796834991e-05,1.05003244891,0.592208045604,0.00876242327504,1.0497005862
+241,4.016666667,pose1_to_pose2_press,0.621638133749,9.06940532309e-05,1.05003244622,0.592208584415,0.00876243673368,1.04970058419
+242,4.033333333,pose1_to_pose2_press,0.621638461298,9.07145389304e-05,1.0500324398,0.59220891176,0.00876245646946,1.04970057606
+243,4.050000000,pose1_to_pose2_press,0.621638679148,9.0730185601e-05,1.0500324347,0.592209129468,0.00876247158359,1.04970056946
+244,4.066666667,pose1_to_pose2_press,0.621639026378,9.07551247857e-05,1.05003242658,0.592209476473,0.00876249567397,1.04970055894
+245,4.083333333,pose1_to_pose2_press,0.621639357227,9.07788874069e-05,1.05003241884,0.592209807107,0.00876251862783,1.04970054891
+246,4.100000000,pose1_to_pose2_press,0.621639579822,9.07948748672e-05,1.05003241363,0.592210029558,0.00876253407115,1.04970054217
+247,4.116666667,pose1_to_pose2_press,0.62163989492,9.08175062141e-05,1.05003240626,0.592210344451,0.00876255593224,1.04970053262
+248,4.133333333,pose1_to_pose2_press,0.621640325084,9.08479336419e-05,1.05003239545,0.592210774345,0.00876258533933,1.04970051892
+249,4.150000000,pose1_to_pose2_press,0.621640501872,9.08423655692e-05,1.05003236186,0.592210951339,0.00876258055612,1.04970048745
+250,4.166666667,pose1_to_pose2_press,0.621640612014,9.08388965508e-05,1.05003234093,0.592211061609,0.00876257757609,1.04970046784
+251,4.183333333,pose1_to_pose2_press,0.621640959647,9.08279475764e-05,1.05003227488,0.592211409648,0.00876256817047,1.04970040595
+252,4.200000000,pose1_to_pose2_press,0.621641276879,9.08034194086e-05,1.05003226478,0.592211727247,0.00876254496245,1.04970039767
+253,4.216666667,pose1_to_pose2_press,0.621641319166,9.07926142339e-05,1.05003228945,0.592211769582,0.00876253428752,1.04970042155
+254,4.233333333,pose1_to_pose2_press,0.621641570826,9.07283106793e-05,1.05003243623,0.592212021525,0.00876247075905,1.04970056366
+255,4.250000000,pose1_to_pose2_press,0.621641617067,9.07604809879e-05,1.05003217713,0.592212067776,0.00876250326051,1.0497003125
+256,4.266666667,pose1_to_pose2_press,0.621641598581,9.07765045887e-05,1.05003209285,0.592212049259,0.00876251927521,1.04970023083
+257,4.283333333,pose2_hold,0.621641598581,9.07765045887e-05,1.05003209285,0.592212049262,0.00876251927517,1.04970023083
+258,4.300000000,pose2_hold,0.621641598581,9.07765045887e-05,1.05003209285,0.592212049262,0.00876251927474,1.04970023083
+259,4.316666667,pose2_hold,0.621641598581,9.07765045887e-05,1.05003209285,0.592212049262,0.00876251927475,1.04970023083
+260,4.333333333,pose2_hold,0.621641598581,9.07765045887e-05,1.05003209285,0.592212049262,0.00876251927487,1.04970023083
+261,4.350000000,pose2_hold,0.621641598581,9.07765045887e-05,1.05003209285,0.592212049262,0.00876251927483,1.04970023083
+262,4.366666667,pose2_hold,0.621641598581,9.07765045887e-05,1.05003209285,0.592212049262,0.00876251927479,1.04970023083
+263,4.383333333,pose2_hold,0.621641598581,9.07765045887e-05,1.05003209285,0.592212049262,0.00876251927476,1.04970023083
+264,4.400000000,pose2_hold,0.621641598581,9.07765045887e-05,1.05003209285,0.592212049263,0.00876251927463,1.04970023083
+265,4.416666667,pose2_hold,0.621641598581,9.07765045887e-05,1.05003209285,0.592212049263,0.00876251927434,1.04970023083
+266,4.433333333,pose2_hold,0.621641598581,9.07765045887e-05,1.05003209285,0.592212049263,0.00876251927468,1.04970023083
+267,4.450000000,pose2_hold,0.621641598581,9.07765045887e-05,1.05003209285,0.592212049263,0.00876251927461,1.04970023083
+268,4.466666667,pose2_hold,0.621641598581,9.07765045887e-05,1.05003209285,0.592212049263,0.00876251927453,1.04970023083
+269,4.483333333,pose2_hold,0.621641598581,9.07765045887e-05,1.05003209285,0.592212049263,0.00876251927451,1.04970023083
+270,4.500000000,pose2_hold,0.621641598581,9.07765045887e-05,1.05003209285,0.592212049263,0.00876251927455,1.04970023083
+271,4.516666667,pose2_hold,0.621641598581,9.07765045887e-05,1.05003209285,0.592212049263,0.00876251927451,1.04970023083
+272,4.533333333,pose2_hold,0.621641598581,9.07765045887e-05,1.05003209285,0.592212049263,0.00876251927448,1.04970023083
+273,4.550000000,pose2_to_pose3_retreat,0.621641598581,9.07765045887e-05,1.05003209285,0.592212049263,0.0087625192743,1.04970023083
+274,4.566666667,pose2_to_pose3_retreat,0.621641678571,9.0698880458e-05,1.05003250595,0.592212129392,0.00876244163527,1.04970063104
+275,4.583333333,pose2_to_pose3_retreat,0.621641491035,9.07127237109e-05,1.05003252005,0.592211941561,0.00876245436841,1.04970064241
+276,4.600000000,pose2_to_pose3_retreat,0.621641332434,9.07244311516e-05,1.05003253198,0.592211782709,0.00876246513701,1.04970065202
+277,4.616666667,pose2_to_pose3_retreat,0.621641304163,9.07265180095e-05,1.0500325341,0.592211754394,0.00876246705652,1.04970065373
+278,4.633333333,pose2_to_pose3_retreat,0.621641164421,9.072073651e-05,1.05003252174,0.592211614698,0.00876246143316,1.04970064145
+279,4.650000000,pose2_to_pose3_retreat,0.621640920746,9.07027523386e-05,1.05003248895,0.592211371234,0.00876244420849,1.04970060985
+280,4.666666667,pose2_to_pose3_retreat,0.621640218498,9.0650923705e-05,1.05003239445,0.592210669595,0.00876239456867,1.04970051876
+281,4.683333333,pose2_to_pose3_retreat,0.621638133448,9.08118422222e-05,1.05003236022,0.592208582523,0.00876254882279,1.04970048975
+282,4.700000000,pose2_to_pose3_retreat,0.621632611074,9.0763425344e-05,1.05003249855,0.592203059444,0.00876249779751,1.04970062312
+283,4.716666667,pose2_to_pose3_retreat,0.621621772729,9.07069790413e-05,1.05003227646,0.592192222847,0.00876244748001,1.04970040614
+284,4.733333333,pose2_to_pose3_retreat,0.621601414245,9.09118209111e-05,1.05003255418,0.592171862711,0.0087626463393,1.04970067805
+285,4.750000000,pose2_to_pose3_retreat,0.621571108461,9.07903882224e-05,1.05003246646,0.592141560367,0.00876253690581,1.04970060069
+286,4.766666667,pose2_to_pose3_retreat,0.621529252837,9.08018718422e-05,1.05003211831,0.592099702127,0.00876253978786,1.04970025568
+287,4.783333333,pose2_to_pose3_retreat,0.621477417944,9.06875355209e-05,1.05003220028,0.59204786881,0.00876243083431,1.04970033758
+288,4.800000000,pose2_to_pose3_retreat,0.621415984075,9.07115160002e-05,1.05003223433,0.591986434751,0.00876245418445,1.04970037946
+289,4.816666667,pose2_to_pose3_retreat,0.621346589091,9.06831320287e-05,1.05003243778,0.591917040277,0.00876242715594,1.04970057813
+290,4.833333333,pose2_to_pose3_retreat,0.62126908457,9.06676903037e-05,1.05003240567,0.591839535487,0.00876241067149,1.04970053715
+291,4.850000000,pose2_to_pose3_retreat,0.621181133023,9.07274477875e-05,1.05003218096,0.591751583201,0.00876246769732,1.04970030815
+292,4.866666667,pose2_to_pose3_retreat,0.621081254638,9.09007199888e-05,1.05003225943,0.591651702857,0.00876263428006,1.04970038738
+293,4.883333333,pose2_to_pose3_retreat,0.62096509638,9.08768680537e-05,1.05003224867,0.591535545802,0.00876261457155,1.04970038081
+294,4.900000000,pose2_to_pose3_retreat,0.620832705387,9.08196080392e-05,1.05003235933,0.591403155998,0.0087625611073,1.04970049008
+295,4.916666667,pose2_to_pose3_retreat,0.620683082219,9.08037669709e-05,1.0500322547,0.591253533134,0.00876254619891,1.04970038503
+296,4.933333333,pose2_to_pose3_retreat,0.6205148739,9.08064783749e-05,1.0500323363,0.591085322298,0.00876254033433,1.04970046967
+297,4.950000000,pose2_to_pose3_retreat,0.620328915585,9.07247842037e-05,1.05003247863,0.5908993662,0.00876246562723,1.0497006034
+298,4.966666667,pose2_to_pose3_retreat,0.620125645596,9.07393068136e-05,1.05003240021,0.590696097864,0.00876248587888,1.04970053202
+299,4.983333333,pose2_to_pose3_retreat,0.619904605409,9.07677908487e-05,1.05003242697,0.590475057612,0.00876251400059,1.04970055981
+300,5.000000000,pose2_to_pose3_retreat,0.619663206625,9.07288562244e-05,1.05003235928,0.590233658177,0.00876247264161,1.04970049173
+301,5.016666667,pose2_to_pose3_retreat,0.619405555163,9.06822359894e-05,1.05003232155,0.589976006871,0.00876242635066,1.04970045375
+302,5.033333333,pose2_to_pose3_retreat,0.619132291537,9.0684422669e-05,1.05003243627,0.589702744051,0.00876243093311,1.04970056512
+303,5.050000000,pose2_to_pose3_retreat,0.618839404661,9.06791661246e-05,1.0500322624,0.589409856885,0.00876242462044,1.04970039576
+304,5.066666667,pose2_to_pose3_retreat,0.618527569937,9.07442965092e-05,1.05003246697,0.589098020627,0.00876248429309,1.04970059991
+305,5.083333333,pose2_to_pose3_retreat,0.618194069992,9.07328240329e-05,1.05003224905,0.58876452188,0.00876247692275,1.04970038832
+306,5.100000000,pose2_to_pose3_retreat,0.617835798819,9.08258340598e-05,1.05003203237,0.588406248919,0.00876256352409,1.04970016968
+307,5.116666667,pose2_to_pose3_retreat,0.617448864265,9.08633848101e-05,1.05003221865,0.588019314176,0.00876259992917,1.04970035096
+308,5.133333333,pose2_to_pose3_retreat,0.617032972593,9.09089627963e-05,1.05003244705,0.587603422164,0.00876264381225,1.04970057381
+309,5.150000000,pose2_to_pose3_retreat,0.616589121501,9.09032041256e-05,1.0500324519,0.587159571354,0.00876263864167,1.04970057796
+310,5.166666667,pose2_to_pose3_retreat,0.616128634789,9.08151535826e-05,1.05003233314,0.586699085163,0.00876255211573,1.04970046121
+311,5.183333333,pose2_to_pose3_retreat,0.615654478904,9.07919094958e-05,1.05003214019,0.586224928036,0.00876252454243,1.04970027255
+312,5.200000000,pose2_to_pose3_retreat,0.615166952452,9.08910620856e-05,1.05003189225,0.585737400754,0.00876262101786,1.04970003569
+313,5.216666667,pose2_to_pose3_retreat,0.614666309749,9.07888348691e-05,1.05003238592,0.585236760892,0.00876252747886,1.04970051147
+314,5.233333333,pose2_to_pose3_retreat,0.61414834394,9.08040331423e-05,1.05003215674,0.584718793322,0.00876253656941,1.04970028724
+315,5.250000000,pose2_to_pose3_retreat,0.61359799039,9.07902749568e-05,1.05003229012,0.584168440423,0.00876252473936,1.04970042072
+316,5.266666667,pose2_to_pose3_retreat,0.613017069891,9.07176770264e-05,1.05003235167,0.58358752181,0.00876245838299,1.04970048337
+317,5.283333333,pose2_to_pose3_retreat,0.612411223525,9.07030033205e-05,1.0500322865,0.582981675303,0.0087624432622,1.04970042049
+318,5.300000000,pose2_to_pose3_retreat,0.611789723814,9.07535323649e-05,1.05003228083,0.582360175534,0.00876249366045,1.04970041609
+319,5.316666667,pose2_to_pose3_retreat,0.611158575564,9.07311070855e-05,1.05003231838,0.581729028444,0.00876247504508,1.04970045014
+320,5.333333333,pose2_to_pose3_retreat,0.610509007279,9.06051658776e-05,1.05003232032,0.581079460543,0.00876235008521,1.04970044401
+321,5.350000000,pose2_to_pose3_retreat,0.609833913573,9.06107447183e-05,1.05003252079,0.580404366954,0.00876235591392,1.04970064068
+322,5.366666667,pose2_to_pose3_retreat,0.609132251574,9.06560389212e-05,1.05003252677,0.579702703868,0.00876239744643,1.049700645
+323,5.383333333,pose2_to_pose3_retreat,0.608405007781,9.07871892649e-05,1.05003238826,0.57897546022,0.00876252946006,1.04970051638
+324,5.400000000,pose2_to_pose3_retreat,0.607654775604,9.07764085009e-05,1.05003249983,0.578225227893,0.00876251799367,1.04970062392
+325,5.416666667,pose2_to_pose3_retreat,0.606896351212,9.07559603071e-05,1.05003215416,0.577466803917,0.00876249961385,1.04970029337
+326,5.433333333,pose2_to_pose3_retreat,0.6061332693,9.06931888139e-05,1.05003227448,0.576703723266,0.00876244093273,1.04970040818
+327,5.450000000,pose2_to_pose3_retreat,0.605365439598,9.06697632528e-05,1.05003234119,0.575935892091,0.00876241251703,1.04970047591
+328,5.466666667,pose2_to_pose3_retreat,0.604590869615,9.07542587034e-05,1.05003228701,0.575161321045,0.00876249327908,1.0497004199
+329,5.483333333,pose2_to_pose3_retreat,0.603803174039,9.07730313992e-05,1.05003224735,0.574373625751,0.0087625128109,1.04970037585
+330,5.500000000,pose2_to_pose3_retreat,0.603002911571,9.07290898319e-05,1.05003228428,0.573573363446,0.00876246956172,1.04970041503
+331,5.516666667,pose2_to_pose3_retreat,0.602186882115,9.08135063411e-05,1.05003234671,0.572757333064,0.00876255109995,1.04970048256
+332,5.533333333,pose2_to_pose3_retreat,0.601362872383,9.0907110357e-05,1.05003234436,0.571933321949,0.00876263993886,1.04970047972
+333,5.550000000,pose2_to_pose3_retreat,0.600535505938,9.08924906861e-05,1.05003233399,0.571105957212,0.00876263109668,1.04970046851
+334,5.566666667,pose2_to_pose3_retreat,0.599706383119,9.07555398683e-05,1.05003224045,0.570276834423,0.00876249415371,1.04970037247
+335,5.583333333,pose2_to_pose3_retreat,0.598880364358,9.08574748028e-05,1.0500321872,0.569450815838,0.0087625971451,1.04970032964
+336,5.600000000,pose2_to_pose3_retreat,0.598065494598,9.0922836388e-05,1.05003221912,0.568635944888,0.00876265805382,1.04970035406
+337,5.616666667,pose2_to_pose3_retreat,0.59725768102,9.08933957579e-05,1.05003231798,0.567828131106,0.00876262789986,1.04970045106
+338,5.633333333,pose2_to_pose3_retreat,0.596456502132,9.08031409375e-05,1.05003244591,0.567026953693,0.00876254248761,1.04970057418
+339,5.650000000,pose2_to_pose3_retreat,0.595643984772,9.06976631392e-05,1.050032353,0.566214436353,0.00876243702781,1.04970047998
+340,5.666666667,pose2_to_pose3_retreat,0.594816738537,9.07579489221e-05,1.05003229088,0.565387190094,0.00876249738366,1.0497004217
+341,5.683333333,pose2_to_pose3_retreat,0.593994141747,9.08556019229e-05,1.0500323372,0.564564593696,0.00876259654695,1.04970047272
+342,5.700000000,pose2_to_pose3_retreat,0.593177201739,9.07542897166e-05,1.05003234036,0.563747654188,0.00876249692784,1.04970047622
+343,5.716666667,pose2_to_pose3_retreat,0.592371199752,9.06118290589e-05,1.05003237875,0.562941653027,0.00876235694984,1.04970050642
+344,5.733333333,pose2_to_pose3_retreat,0.591596860164,9.06149630588e-05,1.05003236789,0.562167311989,0.00876235487865,1.04970048602
+345,5.750000000,pose2_to_pose3_retreat,0.590858688161,9.06355783351e-05,1.05003216253,0.561429139345,0.00876237367428,1.04970028973
+346,5.766666667,pose2_to_pose3_retreat,0.590129896923,9.07510619371e-05,1.05003244966,0.560700349294,0.00876249345592,1.04970058378
+347,5.783333333,pose2_to_pose3_retreat,0.589407169312,9.08437343448e-05,1.05003215445,0.559977620848,0.00876258339732,1.04970029126
+348,5.800000000,pose2_to_pose3_retreat,0.588690783735,9.07646361058e-05,1.05003214718,0.559261235944,0.00876250691794,1.04970029263
+349,5.816666667,pose2_to_pose3_retreat,0.587976851217,9.07877368746e-05,1.05003227911,0.558547302604,0.00876252697869,1.049700418
+350,5.833333333,pose2_to_pose3_retreat,0.587261545636,9.07231983205e-05,1.05003243472,0.55783199904,0.00876246885187,1.0497005635
+351,5.850000000,pose2_to_pose3_retreat,0.586566152011,9.07346495126e-05,1.05003244348,0.557136604525,0.00876247709044,1.04970056812
+352,5.866666667,pose2_to_pose3_retreat,0.585895970966,9.08415134707e-05,1.05003240426,0.556466420521,0.00876257375744,1.04970052499
+353,5.883333333,pose2_to_pose3_retreat,0.585249970339,9.08055020422e-05,1.05003236418,0.555820420604,0.00876254016385,1.04970048437
+354,5.900000000,pose2_to_pose3_retreat,0.584632008853,9.06533989681e-05,1.05003225663,0.555202461918,0.00876239792824,1.04970038489
+355,5.916666667,pose2_to_pose3_retreat,0.584049198672,9.06377669407e-05,1.05003225355,0.554619652657,0.00876238553534,1.04970038501
+356,5.933333333,pose2_to_pose3_retreat,0.583489491066,9.07163658139e-05,1.05003240724,0.554059942948,0.0087624566398,1.04970052921
+357,5.950000000,pose2_to_pose3_retreat,0.582947950931,9.08570744621e-05,1.05003238466,0.553518402151,0.00876259531581,1.04970051238
+358,5.966666667,pose2_to_pose3_retreat,0.582419557291,9.07426843495e-05,1.05003236912,0.552990011316,0.00876249056803,1.04970050037
+359,5.983333333,pose2_to_pose3_retreat,0.58190426796,9.0652840279e-05,1.05003232927,0.552474722178,0.00876240161175,1.04970046652
+360,6.000000000,pose2_to_pose3_retreat,0.581408422107,9.07911353603e-05,1.05003233246,0.551978873588,0.00876253063668,1.04970047012
+361,6.016666667,pose2_to_pose3_retreat,0.580933078371,9.09195573617e-05,1.05003240336,0.551503528118,0.00876265309633,1.04970053905
+362,6.033333333,pose2_to_pose3_retreat,0.580481292179,9.09117324808e-05,1.05003240863,0.551051741783,0.00876264469366,1.04970054226
+363,6.050000000,pose2_to_pose3_retreat,0.580052871495,9.08266675494e-05,1.05003236618,0.550623321822,0.00876256185823,1.04970049447
+364,6.066666667,pose2_to_pose3_retreat,0.579647466317,9.07419868016e-05,1.05003233974,0.550217918753,0.0087624843037,1.04970046696
+365,6.083333333,pose2_to_pose3_retreat,0.579260079337,9.06924089045e-05,1.05003218192,0.549830534075,0.00876244304096,1.0497003219
+366,6.100000000,pose2_to_pose3_retreat,0.578891488935,9.05960078442e-05,1.05003213903,0.549461943136,0.00876234457939,1.04970027255
+367,6.116666667,pose2_to_pose3_retreat,0.578548831123,9.08686276021e-05,1.05003234381,0.549119281646,0.00876260468229,1.04970047651
+368,6.133333333,pose2_to_pose3_retreat,0.578234883143,9.0726210568e-05,1.05003227246,0.548805337347,0.00876247446388,1.04970039746
+369,6.150000000,pose2_to_pose3_retreat,0.577953417882,9.0669048955e-05,1.05003235721,0.548523870033,0.00876241041543,1.04970048443
+370,6.166666667,pose2_to_pose3_retreat,0.577700864556,9.08108559048e-05,1.05003240308,0.548271314935,0.00876254596033,1.04970052398
+371,6.183333333,pose2_to_pose3_retreat,0.577473809541,9.08676506974e-05,1.0500323677,0.548044259573,0.0087626018836,1.04970049665
+372,6.200000000,pose2_to_pose3_retreat,0.577260752752,9.0875352414e-05,1.05003234299,0.547831202937,0.00876261031252,1.04970047734
+373,6.216666667,pose2_to_pose3_retreat,0.577059198861,9.0820256228e-05,1.05003231986,0.547629649572,0.00876255693944,1.04970045252
+374,6.233333333,pose2_to_pose3_retreat,0.576868900902,9.06709485177e-05,1.05003227028,0.547439353139,0.00876241292642,1.04970040602
+375,6.250000000,pose2_to_pose3_retreat,0.576692242043,9.07064800934e-05,1.05003248695,0.547262695389,0.00876245205016,1.04970061842
+376,6.266666667,pose2_to_pose3_retreat,0.576532317877,9.07619284298e-05,1.05003248198,0.54710276989,0.00876250293281,1.04970061234
+377,6.283333333,pose2_to_pose3_retreat,0.576392535401,9.05387006862e-05,1.05003250341,0.546962989702,0.00876228729718,1.04970062936
+378,6.300000000,pose2_to_pose3_retreat,0.576271340187,9.0654046672e-05,1.05003228511,0.546841793279,0.00876239861151,1.04970041275
+379,6.316666667,pose2_to_pose3_retreat,0.576167424263,9.06851595773e-05,1.0500322335,0.546737876952,0.00876242857718,1.04970036705
+380,6.333333333,pose2_to_pose3_retreat,0.576077261472,9.07463081685e-05,1.05003215964,0.546647713688,0.00876248818304,1.04970029519
+381,6.350000000,pose2_to_pose3_retreat,0.575998438815,9.08378324208e-05,1.05003223543,0.546568889706,0.00876257505609,1.04970036721
+382,6.366666667,pose2_to_pose3_retreat,0.575929504522,9.08696150052e-05,1.05003234816,0.546499955076,0.00876260544403,1.04970047334
+383,6.383333333,pose2_to_pose3_retreat,0.57587023061,9.0809964967e-05,1.05003230769,0.546440682808,0.00876255130568,1.04970043112
+384,6.400000000,pose2_to_pose3_retreat,0.575819748792,9.07902644443e-05,1.05003236122,0.54639020109,0.00876253227989,1.04970049331
+385,6.416666667,pose2_to_pose3_retreat,0.575778008462,9.08083570816e-05,1.05003232512,0.546348460903,0.00876255104686,1.04970046213
+386,6.433333333,pose2_to_pose3_retreat,0.575745575569,9.07848137817e-05,1.05003224418,0.546316027036,0.00876252405975,1.04970037767
+387,6.450000000,pose2_to_pose3_retreat,0.575720771588,9.07009434264e-05,1.05003247104,0.546291223873,0.00876244292372,1.04970060346
+388,6.466666667,pose2_to_pose3_retreat,0.575703198736,9.07064124865e-05,1.0500321954,0.546273650835,0.00876244761105,1.04970032399
+389,6.483333333,pose2_to_pose3_retreat,0.575690583053,9.07273015197e-05,1.0500321918,0.546261034767,0.00876246734543,1.04970032451
+390,6.500000000,pose2_to_pose3_retreat,0.575682163152,9.07132616169e-05,1.05003231004,0.546252615061,0.00876245405837,1.04970044512
+391,6.516666667,pose2_to_pose3_retreat,0.575676148154,9.06686234199e-05,1.05003246157,0.546246600759,0.00876241175602,1.04970059586
+392,6.533333333,pose2_to_pose3_retreat,0.57567242309,9.07694447934e-05,1.05003240935,0.546242874379,0.00876250800867,1.04970054088
+393,6.550000000,pose2_to_pose3_retreat,0.575670387555,9.08296067233e-05,1.05003237505,0.546240838055,0.00876256543672,1.04970050497
+394,6.566666667,pose2_to_pose3_retreat,0.575669182744,9.08294978888e-05,1.05003236369,0.546239633381,0.00876256586133,1.04970049545
+395,6.583333333,pose2_to_pose3_retreat,0.575668554989,9.08255418284e-05,1.05003235875,0.546239005763,0.0087625624181,1.04970049176
+396,6.600000000,pose2_to_pose3_retreat,0.575668265544,9.08237177725e-05,1.05003235647,0.546238716381,0.00876256083051,1.04970049007
+397,6.616666667,pose2_to_pose3_retreat,0.575668080019,9.0822548616e-05,1.05003235501,0.546238530897,0.00876255981291,1.04970048898
+398,6.633333333,pose2_to_pose3_retreat,0.575667640504,9.0819778829e-05,1.05003235155,0.546238091478,0.00876255740218,1.0497004864
+399,6.650000000,pose2_to_pose3_retreat,0.575667188628,9.08169311473e-05,1.05003234799,0.5462376397,0.00876255492366,1.04970048375
+400,6.666666667,pose2_to_pose3_retreat,0.575666925214,9.08152711373e-05,1.05003234592,0.546237376344,0.00876255347884,1.0497004822
+401,6.683333333,pose2_to_pose3_retreat,0.575666824054,9.08146336344e-05,1.05003234512,0.546237275206,0.00876255292398,1.04970048161
+402,6.700000000,pose2_to_pose3_retreat,0.575666816194,9.08145840996e-05,1.05003234506,0.546237267347,0.00876255288086,1.04970048156
+403,6.716666667,pose2_to_pose3_retreat,0.575666745231,9.08141368993e-05,1.0500323445,0.5462371964,0.00876255249164,1.04970048114
+404,6.733333333,pose2_to_pose3_retreat,0.575666647743,9.08105437324e-05,1.05003234449,0.546237098975,0.00876254911255,1.04970048111
+405,6.750000000,pose2_to_pose3_retreat,0.575666625946,9.08088817865e-05,1.05003234471,0.546237077204,0.00876254753722,1.04970048126
+406,6.766666667,pose2_to_pose3_retreat,0.575666472327,9.07971688449e-05,1.05003234626,0.546236923771,0.00876253643472,1.04970048231
+407,6.783333333,pose2_to_pose3_retreat,0.575666212849,9.07773845711e-05,1.05003234887,0.546236664606,0.00876251768153,1.04970048408
+408,6.800000000,pose2_to_pose3_retreat,0.575665980121,9.07596398835e-05,1.05003235121,0.546236432159,0.00876250086164,1.04970048567
+409,6.816666667,pose2_to_pose3_retreat,0.575665891427,9.07528772844e-05,1.0500323521,0.546236343572,0.00876249445149,1.04970048628
+410,6.833333333,pose2_to_pose3_retreat,0.575665682533,9.07369498073e-05,1.05003235421,0.54623613493,0.0087624793541,1.0497004877
+411,6.850000000,pose2_to_pose3_retreat,0.5756653412,9.07109243053e-05,1.05003235764,0.546235794009,0.00876245468496,1.04970049003
+412,6.866666667,pose2_to_pose3_retreat,0.575665069738,9.06982749043e-05,1.05003235318,0.546235522705,0.00876244252937,1.04970048439
+413,6.883333333,pose2_to_pose3_retreat,0.57566489448,9.07213175022e-05,1.05003232242,0.546235346895,0.00876246362277,1.04970045171
+414,6.900000000,pose2_to_pose3_retreat,0.575664701446,9.07466973884e-05,1.05003228853,0.546235153252,0.00876248685575,1.04970041571
+415,6.916666667,pose2_to_pose3_retreat,0.575664648918,9.07536036405e-05,1.05003227931,0.546235100559,0.0087624931778,1.04970040591
+416,6.933333333,pose2_to_pose3_retreat,0.575664610686,9.07586303475e-05,1.0500322726,0.546235062206,0.00876249777929,1.04970039878
+417,6.950000000,pose2_to_pose3_retreat,0.575664574994,9.07633231698e-05,1.05003226633,0.546235026401,0.00876250207515,1.04970039213
+418,6.966666667,pose2_to_pose3_retreat,0.575664518128,9.08115723277e-05,1.05003226143,0.546234968682,0.0087625474284,1.04970038724
+419,6.983333333,pose2_to_pose3_retreat,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570659,1.04970062959

Part2/Obstacle_avoidance/cylinder_0050_17.5/position_02/depth_01/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab2bef373219ce3e9236c6291ebe11e174e076378517e2ceea0c9cec23c05248
+size 26176032

Part2/Obstacle_avoidance/cylinder_0050_17.5/position_02/depth_01/simulation_data.csv

@@ -0,0 +1,413 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+1,0.016666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+2,0.033333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+3,0.050000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+4,0.066666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+5,0.083333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+6,0.100000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+7,0.116666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+8,0.133333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+9,0.150000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+10,0.166666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+11,0.183333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+12,0.200000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+13,0.216666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+14,0.233333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+15,0.250000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+16,0.266666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+17,0.283333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+18,0.300000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+19,0.316666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+20,0.333333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+21,0.350000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+22,0.366666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+23,0.383333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+24,0.400000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+25,0.416666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+26,0.433333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+27,0.450000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+28,0.466666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+29,0.483333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+30,0.500000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+31,0.516666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+32,0.533333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+33,0.550000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+34,0.566666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+35,0.583333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+36,0.600000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+37,0.616666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+38,0.633333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+39,0.650000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+40,0.666666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+41,0.683333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+42,0.700000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+43,0.716666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+44,0.733333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+45,0.750000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+46,0.766666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+47,0.783333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+48,0.800000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+49,0.816666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+50,0.833333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+51,0.850000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+52,0.866666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+53,0.883333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+54,0.900000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+55,0.916666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+56,0.933333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+57,0.950000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+58,0.966666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+59,0.983333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+60,1.000000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+61,1.016666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+62,1.033333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+63,1.050000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+64,1.066666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+65,1.083333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+66,1.100000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+67,1.116666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+68,1.133333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+69,1.150000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+70,1.166666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+71,1.183333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+72,1.200000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+73,1.216666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+74,1.233333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+75,1.250000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+76,1.266666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+77,1.283333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+78,1.300000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+79,1.316666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+80,1.333333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+81,1.350000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+82,1.366666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+83,1.383333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+84,1.400000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+85,1.416666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+86,1.433333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+87,1.450000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+88,1.466666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+89,1.483333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+90,1.500000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+91,1.516666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+92,1.533333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+93,1.550000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+94,1.566666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+95,1.583333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+96,1.600000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+97,1.616666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+98,1.633333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+99,1.650000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+100,1.666666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+101,1.683333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+102,1.700000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+103,1.716666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+104,1.733333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+105,1.750000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+106,1.766666667,pose1_to_pose2_press,0.57566436402,9.07680344871e-05,1.0400323585,0.546234816401,0.00876251030681,1.03970048994
+107,1.783333333,pose1_to_pose2_press,0.575664455703,9.07993148034e-05,1.0400322116,0.546234906531,0.00876253651773,1.0397003483
+108,1.800000000,pose1_to_pose2_press,0.575664700255,9.07320718421e-05,1.04003216137,0.546235152029,0.00876247248115,1.03970029798
+109,1.816666667,pose1_to_pose2_press,0.575664885915,9.06810219339e-05,1.04003212323,0.546235338407,0.00876242386549,1.03970025978
+110,1.833333333,pose1_to_pose2_press,0.57566499555,9.06527645232e-05,1.04003210444,0.546235448437,0.00876239694899,1.03970024093
+111,1.850000000,pose1_to_pose2_press,0.575665593903,9.06556075391e-05,1.04003231227,0.546236046603,0.00876239908006,1.03970044675
+112,1.866666667,pose1_to_pose2_press,0.575667579227,9.06912928633e-05,1.04003250123,0.546238031427,0.00876243301185,1.0397006343
+113,1.883333333,pose1_to_pose2_press,0.575671817665,9.0738684978e-05,1.0400324164,0.54624226971,0.00876247984619,1.03970054863
+114,1.900000000,pose1_to_pose2_press,0.575679622749,9.06834679211e-05,1.0400324215,0.5462500764,0.0087624299788,1.03970055105
+115,1.916666667,pose1_to_pose2_press,0.575692262587,9.0757773941e-05,1.0400322199,0.546262715142,0.0087625012046,1.03970036602
+116,1.933333333,pose1_to_pose2_press,0.575710559651,9.06103903556e-05,1.04003231224,0.546281013625,0.00876235839054,1.03970045188
+117,1.950000000,pose1_to_pose2_press,0.575735658554,9.07166244286e-05,1.0400324957,0.54630611071,0.00876245802682,1.03970062415
+118,1.966666667,pose1_to_pose2_press,0.575767162157,9.07606448559e-05,1.04003223714,0.546337613523,0.00876249960936,1.03970037191
+119,1.983333333,pose1_to_pose2_press,0.575805148558,9.06770568169e-05,1.04003210619,0.546375601319,0.00876242091029,1.0397002449
+120,2.000000000,pose1_to_pose2_press,0.575849652944,9.08123471382e-05,1.04003223512,0.546420103591,0.0087625486596,1.03970036418
+121,2.016666667,pose1_to_pose2_press,0.575901281359,9.07351197765e-05,1.04003238725,0.546471733084,0.00876247534185,1.03970052285
+122,2.033333333,pose1_to_pose2_press,0.575959870085,9.07208010178e-05,1.0400322676,0.546530321997,0.00876246174007,1.03970040527
+123,2.050000000,pose1_to_pose2_press,0.576025793346,9.07788879646e-05,1.04003223672,0.546596245253,0.00876251968128,1.039700371
+124,2.066666667,pose1_to_pose2_press,0.576102011481,9.08145994559e-05,1.04003243895,0.546672464248,0.00876255829394,1.03970057269
+125,2.083333333,pose1_to_pose2_press,0.576188732342,9.08038128887e-05,1.04003220436,0.54675918411,0.00876254440864,1.03970034565
+126,2.100000000,pose1_to_pose2_press,0.576288059386,9.06377758514e-05,1.04003212069,0.546858513747,0.00876238697095,1.03970025676
+127,2.116666667,pose1_to_pose2_press,0.576400755625,9.06449278104e-05,1.04003238418,0.546971209685,0.0087623929117,1.03970051531
+128,2.133333333,pose1_to_pose2_press,0.576528173076,9.0715642005e-05,1.04003244285,0.547098626153,0.00876246010655,1.03970056914
+129,2.150000000,pose1_to_pose2_press,0.576671493143,9.08179060415e-05,1.04003228644,0.547241944586,0.00876255677862,1.0397004114
+130,2.166666667,pose1_to_pose2_press,0.576830799236,9.08301374581e-05,1.04003217165,0.547401250297,0.00876256783931,1.03970029987
+131,2.183333333,pose1_to_pose2_press,0.577008166631,9.0682044264e-05,1.0400322282,0.547578619999,0.00876242776794,1.03970036133
+132,2.200000000,pose1_to_pose2_press,0.577203686394,9.06497541971e-05,1.04003222369,0.547774139663,0.00876239524204,1.03970035945
+133,2.216666667,pose1_to_pose2_press,0.577419326128,9.08003643431e-05,1.04003225959,0.547989775678,0.00876253300166,1.03970038923
+134,2.233333333,pose1_to_pose2_press,0.577655826264,9.09014208794e-05,1.04003234907,0.548226277133,0.00876263880282,1.03970048572
+135,2.250000000,pose1_to_pose2_press,0.577914134183,9.07658634811e-05,1.04003211835,0.548484586629,0.00876250882029,1.03970026071
+136,2.266666667,pose1_to_pose2_press,0.578192748586,9.07933640069e-05,1.04003243894,0.548763199039,0.00876252878533,1.0397005611
+137,2.283333333,pose1_to_pose2_press,0.578490286059,9.07725783642e-05,1.04003243908,0.549060737135,0.00876251013441,1.03970056176
+138,2.300000000,pose1_to_pose2_press,0.57880746457,9.088919815e-05,1.04003237934,0.549377914048,0.00876262155668,1.03970050787
+139,2.316666667,pose1_to_pose2_press,0.579137452509,9.0897686501e-05,1.04003232217,0.549707902271,0.00876263100622,1.03970045051
+140,2.333333333,pose1_to_pose2_press,0.57947709105,9.08234691347e-05,1.04003224349,0.55004754193,0.00876256076073,1.03970037641
+141,2.350000000,pose1_to_pose2_press,0.579834397148,9.08361616083e-05,1.04003229164,0.550404847506,0.00876257200003,1.03970043278
+142,2.366666667,pose1_to_pose2_press,0.580211062258,9.08427240623e-05,1.0400325951,0.550781514172,0.00876258345302,1.03970072608
+143,2.383333333,pose1_to_pose2_press,0.580608488259,9.07502474029e-05,1.0400324984,0.551178940216,0.00876249106036,1.03970062769
+144,2.400000000,pose1_to_pose2_press,0.581031698648,9.06605085571e-05,1.04003250958,0.551602152503,0.00876240762915,1.03970063525
+145,2.416666667,pose1_to_pose2_press,0.581488958605,9.07557039483e-05,1.04003240276,0.552059411207,0.00876249875035,1.03970053311
+146,2.433333333,pose1_to_pose2_press,0.581968411845,9.07586680593e-05,1.04003217125,0.552538863712,0.00876249953965,1.03970030992
+147,2.450000000,pose1_to_pose2_press,0.5824669026,9.07540551363e-05,1.04003231926,0.553037354196,0.00876249395907,1.03970045659
+148,2.466666667,pose1_to_pose2_press,0.582981071623,9.07277581381e-05,1.04003242879,0.55355152369,0.00876246900471,1.03970055938
+149,2.483333333,pose1_to_pose2_press,0.583507653267,9.07372257454e-05,1.04003232881,0.554078105408,0.00876247872169,1.03970045928
+150,2.500000000,pose1_to_pose2_press,0.584041669001,9.07856198997e-05,1.04003229616,0.554612120576,0.00876252519651,1.03970042669
+151,2.516666667,pose1_to_pose2_press,0.584590292185,9.07677275028e-05,1.04003241294,0.555160743966,0.00876250768028,1.03970053498
+152,2.533333333,pose1_to_pose2_press,0.585163108649,9.07235131771e-05,1.040032365,0.555733561106,0.00876246618235,1.03970049807
+153,2.550000000,pose1_to_pose2_press,0.585756797913,9.07111484583e-05,1.04003238251,0.55632725171,0.00876245818551,1.03970051082
+154,2.566666667,pose1_to_pose2_press,0.586370200568,9.08454610334e-05,1.04003249898,0.556940652746,0.00876258689851,1.03970062452
+155,2.583333333,pose1_to_pose2_press,0.58700222576,9.08806201685e-05,1.04003249747,0.557572675983,0.00876261558804,1.03970062732
+156,2.600000000,pose1_to_pose2_press,0.58764739566,9.08895683463e-05,1.04003248498,0.558217844997,0.00876262160877,1.03970061682
+157,2.616666667,pose1_to_pose2_press,0.588300590929,9.08541214748e-05,1.04003232368,0.558871040968,0.00876258872665,1.03970046042
+158,2.633333333,pose1_to_pose2_press,0.588965929879,9.08260864261e-05,1.04003222607,0.559536381057,0.00876256455894,1.03970036282
+159,2.650000000,pose1_to_pose2_press,0.589646436765,9.07980748988e-05,1.04003219911,0.560216888575,0.00876253849122,1.03970033051
+160,2.666666667,pose1_to_pose2_press,0.590333555627,9.07555391724e-05,1.04003221929,0.56090400768,0.00876249655781,1.03970034495
+161,2.683333333,pose1_to_pose2_press,0.59102657594,9.07668366205e-05,1.040032395,0.561597027953,0.00876250766681,1.03970051927
+162,2.700000000,pose1_to_pose2_press,0.591737683075,9.08357243558e-05,1.04003231454,0.562308133924,0.00876257336626,1.03970045872
+163,2.716666667,pose1_to_pose2_press,0.592460303536,9.07840095087e-05,1.04003235455,0.563030755534,0.00876252511454,1.03970048734
+164,2.733333333,pose1_to_pose2_press,0.593186080087,9.07600397959e-05,1.04003238098,0.563756532085,0.00876250102083,1.0397005105
+165,2.750000000,pose1_to_pose2_press,0.593919845757,9.07281799631e-05,1.04003224267,0.564490298705,0.00876247267249,1.03970037987
+166,2.766666667,pose1_to_pose2_press,0.594659966558,9.0718069096e-05,1.04003235755,0.565230418359,0.00876245829129,1.0397004848
+167,2.783333333,pose1_to_pose2_press,0.595398354881,9.06340546124e-05,1.04003223682,0.565968806169,0.00876237239796,1.03970036049
+168,2.800000000,pose1_to_pose2_press,0.596137237258,9.06622854037e-05,1.04003232901,0.566707688888,0.00876240199881,1.03970045831
+169,2.816666667,pose1_to_pose2_press,0.59687770095,9.07983191419e-05,1.04003240421,0.567448151149,0.00876253341971,1.03970053988
+170,2.833333333,pose1_to_pose2_press,0.597614942841,9.09346193026e-05,1.04003233833,0.568185390599,0.00876266145408,1.03970047454
+171,2.850000000,pose1_to_pose2_press,0.598342827523,9.0933648639e-05,1.04003232438,0.56891327622,0.00876266355143,1.0397004575
+172,2.866666667,pose1_to_pose2_press,0.599066492431,9.0734597114e-05,1.04003223607,0.569636945534,0.00876247947079,1.03970036978
+173,2.883333333,pose1_to_pose2_press,0.599789714573,9.07870917725e-05,1.040032212,0.570360165734,0.00876252544977,1.03970034761
+174,2.900000000,pose1_to_pose2_press,0.600504698293,9.0636489541e-05,1.0400321385,0.571075149116,0.00876237342632,1.03970026709
+175,2.916666667,pose1_to_pose2_press,0.60121838154,9.07848696361e-05,1.04003254049,0.571788832132,0.00876252105344,1.03970066991
+176,2.933333333,pose1_to_pose2_press,0.601938470396,9.06849543692e-05,1.04003233638,0.572508923587,0.00876242995705,1.03970046589
+177,2.950000000,pose1_to_pose2_press,0.602646198357,9.07600282157e-05,1.04003223242,0.573216650819,0.00876250274306,1.03970036686
+178,2.966666667,pose1_to_pose2_press,0.603335239045,9.07544312201e-05,1.04003215705,0.573905690907,0.00876249511223,1.03970029161
+179,2.983333333,pose1_to_pose2_press,0.604018941662,9.06628917483e-05,1.04003225352,0.574589394691,0.00876240733984,1.03970038311
+180,3.000000000,pose1_to_pose2_press,0.604694842543,9.0667192323e-05,1.04003237478,0.575265296238,0.00876241391573,1.0397005049
+181,3.016666667,pose1_to_pose2_press,0.605351744398,9.07470754344e-05,1.04003243346,0.575922196722,0.00876248919291,1.03970056492
+182,3.033333333,pose1_to_pose2_press,0.605999542847,9.07340547952e-05,1.04003261413,0.576569993857,0.00876247137795,1.03970073681
+183,3.050000000,pose1_to_pose2_press,0.606648353617,9.07286374266e-05,1.04003250029,0.577218805251,0.00876246830996,1.03970062915
+184,3.066666667,pose1_to_pose2_press,0.607282468427,9.07894197329e-05,1.04003247764,0.577852919119,0.00876252597933,1.03970060883
+185,3.083333333,pose1_to_pose2_press,0.607897254695,9.07545595051e-05,1.04003236046,0.578467707082,0.00876249691667,1.03970049288
+186,3.100000000,pose1_to_pose2_press,0.608492633193,9.07155805236e-05,1.04003220888,0.579063084888,0.00876245589875,1.03970034942
+187,3.116666667,pose1_to_pose2_press,0.609063069838,9.0781423989e-05,1.04003233397,0.57963352219,0.00876252370756,1.03970046771
+188,3.133333333,pose1_to_pose2_press,0.60960089796,9.08170117568e-05,1.04003227098,0.580171348885,0.00876255439581,1.03970040334
+189,3.150000000,pose1_to_pose2_press,0.610118774192,9.07417723655e-05,1.04003220703,0.580689226625,0.00876248455449,1.03970034687
+190,3.166666667,pose1_to_pose2_press,0.610621710971,9.07228386035e-05,1.04003227313,0.581192164322,0.00876246871281,1.03970041238
+191,3.183333333,pose1_to_pose2_press,0.611109379508,9.07664785345e-05,1.04003230412,0.581679831865,0.00876250880412,1.03970043886
+192,3.200000000,pose1_to_pose2_press,0.611578506661,9.07829423403e-05,1.04003231181,0.582148958408,0.0087625231557,1.0397004456
+193,3.216666667,pose1_to_pose2_press,0.61201779382,9.07723016031e-05,1.04003246806,0.58258824594,0.00876251366338,1.03970059883
+194,3.233333333,pose1_to_pose2_press,0.612429715901,9.07571373137e-05,1.04003237075,0.583000166084,0.00876249199731,1.0397005025
+195,3.250000000,pose1_to_pose2_press,0.612817711946,9.07863784086e-05,1.04003247532,0.58338816273,0.0087625233753,1.0397006073
+196,3.266666667,pose1_to_pose2_press,0.613191362338,9.06886000946e-05,1.04003230923,0.583761813876,0.00876242823345,1.03970044057
+197,3.283333333,pose1_to_pose2_press,0.613553949749,9.07904736218e-05,1.04003227517,0.584124400971,0.00876252895042,1.03970040062
+198,3.300000000,pose1_to_pose2_press,0.613909045671,9.07812929592e-05,1.04003239346,0.584479497303,0.00876252141484,1.03970052069
+199,3.316666667,pose1_to_pose2_press,0.614252350189,9.07319710729e-05,1.04003232241,0.5848228021,0.00876247340307,1.03970045435
+200,3.333333333,pose1_to_pose2_press,0.614571459839,9.07603186807e-05,1.04003217224,0.585141911021,0.00876249942501,1.03970030315
+201,3.350000000,pose1_to_pose2_press,0.614863101384,9.07951293999e-05,1.04003224386,0.585433551778,0.00876253177707,1.03970037569
+202,3.366666667,pose1_to_pose2_press,0.61512295564,9.09349164888e-05,1.04003223708,0.585693405288,0.00876266944357,1.0397003755
+203,3.383333333,pose1_to_pose2_press,0.615360275229,9.073019302e-05,1.04003246184,0.585930727238,0.00876247270898,1.03970059565
+204,3.400000000,pose1_to_pose2_press,0.615578076194,9.08666495611e-05,1.04003244975,0.586148526502,0.00876260304095,1.03970057045
+205,3.416666667,pose1_to_pose2_press,0.615783964932,9.07939629075e-05,1.04003240192,0.586354416504,0.00876253497232,1.03970052652
+206,3.433333333,pose1_to_pose2_press,0.615980101421,9.06728241357e-05,1.04003233041,0.586550554315,0.00876241853455,1.03970045777
+207,3.450000000,pose1_to_pose2_press,0.616166646815,9.0714634511e-05,1.04003225528,0.586737098415,0.00876245614811,1.03970038566
+208,3.466666667,pose1_to_pose2_press,0.616340012425,9.08043820714e-05,1.04003218275,0.586910462752,0.00876254197291,1.03970032125
+209,3.483333333,pose1_to_pose2_press,0.616497982038,9.06425713575e-05,1.04003212259,0.587068435307,0.00876239013241,1.03970025951
+210,3.500000000,pose1_to_pose2_press,0.616639001539,9.0721723879e-05,1.04003219636,0.587209453428,0.00876246490751,1.03970033476
+211,3.516666667,pose1_to_pose2_press,0.616763885977,9.08744149759e-05,1.04003218092,0.587334334413,0.00876260528872,1.03970030236
+212,3.533333333,pose1_to_pose2_press,0.616872922646,9.06293646759e-05,1.04003220135,0.587443375941,0.00876237753708,1.03970034197
+213,3.550000000,pose1_to_pose2_press,0.616967650151,9.06309493444e-05,1.04003233022,0.587538103928,0.00876238058269,1.0397004643
+214,3.566666667,pose1_to_pose2_press,0.61704845601,9.08640628733e-05,1.04003254108,0.587618906991,0.00876260441989,1.0397006706
+215,3.583333333,pose1_to_pose2_press,0.617118333744,9.08349445403e-05,1.04003231903,0.587688784442,0.00876257439032,1.03970045166
+216,3.600000000,pose1_to_pose2_press,0.617177914946,9.07005870161e-05,1.0400322303,0.587748366834,0.00876244402549,1.03970036211
+217,3.616666667,pose1_to_pose2_press,0.617228315571,9.07023185607e-05,1.04003235015,0.587798767699,0.00876244642973,1.03970047803
+218,3.633333333,pose1_to_pose2_press,0.617270582463,9.08520675156e-05,1.04003228757,0.587841033363,0.00876259171976,1.03970041858
+219,3.650000000,pose1_to_pose2_press,0.617305737686,9.09281993487e-05,1.04003247347,0.587876187665,0.0087626648856,1.03970060841
+220,3.666666667,pose1_to_pose2_press,0.617334487505,9.07880624453e-05,1.04003238343,0.587904938257,0.00876252736845,1.03970051559
+221,3.683333333,pose1_to_pose2_press,0.61735647692,9.07128517403e-05,1.04003226363,0.587926929872,0.00876246000583,1.03970039968
+222,3.700000000,pose1_to_pose2_press,0.617373809313,9.08011728807e-05,1.0400321583,0.587944261087,0.00876254442333,1.039700295
+223,3.716666667,pose1_to_pose2_press,0.61738665238,9.08337884811e-05,1.0400321793,0.587957103746,0.00876257574945,1.03970032004
+224,3.733333333,pose1_to_pose2_press,0.617395436767,9.07553627347e-05,1.04003231008,0.587965889802,0.00876250320344,1.03970045796
+225,3.750000000,pose1_to_pose2_press,0.617401132475,9.08465083601e-05,1.04003242919,0.587971583264,0.00876258641757,1.03970056646
+226,3.766666667,pose1_to_pose2_press,0.61740490898,9.08529418596e-05,1.04003243048,0.587975359539,0.00876259187911,1.03970056171
+227,3.783333333,pose1_to_pose2_press,0.617407380668,9.07911514382e-05,1.04003233637,0.587977832619,0.00876253469225,1.03970046488
+228,3.800000000,pose1_to_pose2_press,0.617408747126,9.07569909802e-05,1.04003228434,0.587979199845,0.00876250307684,1.03970041134
+229,3.816666667,pose1_to_pose2_press,0.617409731571,9.07556328057e-05,1.04003226651,0.58798018401,0.0087625007664,1.03970039341
+230,3.833333333,pose1_to_pose2_press,0.617410378108,9.07658320829e-05,1.04003226417,0.587980829966,0.00876250901145,1.03970039147
+231,3.850000000,pose1_to_pose2_press,0.617410547794,9.07685089164e-05,1.04003226356,0.587980999499,0.00876251117539,1.03970039096
+232,3.866666667,pose1_to_pose2_press,0.617410569329,9.07688486341e-05,1.04003226348,0.587981021014,0.00876251145002,1.0397003909
+233,3.883333333,pose1_to_pose2_press,0.617410621254,9.07696677641e-05,1.0400322633,0.587981072893,0.0087625121122,1.03970039074
+234,3.900000000,pose1_to_pose2_press,0.617410654695,9.07701953088e-05,1.04003226317,0.587981106304,0.00876251253866,1.03970039064
+235,3.916666667,pose1_to_pose2_press,0.617410730392,9.07713894438e-05,1.0400322629,0.587981181933,0.008762513504,1.03970039042
+236,3.933333333,pose1_to_pose2_press,0.61741124411,9.0779493467e-05,1.04003226104,0.587981695188,0.00876252005525,1.03970038888
+237,3.950000000,pose1_to_pose2_press,0.617412062059,9.07923968133e-05,1.04003225808,0.587982512402,0.00876253048626,1.03970038643
+238,3.966666667,pose1_to_pose2_press,0.617412937928,9.07545970812e-05,1.04003225911,0.587983389056,0.00876249537855,1.0397003885
+239,3.983333333,pose1_to_pose2_press,0.617413625606,9.07103111875e-05,1.0400322611,0.587984077795,0.00876245471735,1.03970039145
+240,4.000000000,pose1_to_pose2_press,0.617413908295,9.07067400855e-05,1.04003225238,0.58798436058,0.00876245148432,1.03970038312
+241,4.016666667,pose1_to_pose2_press,0.617413949377,9.07200314579e-05,1.0400322421,0.587984401356,0.00876246373769,1.0397003729
+242,4.033333333,pose1_to_pose2_press,0.617414033532,9.07472577246e-05,1.04003222106,0.587984484883,0.0087624888377,1.03970035197
+243,4.050000000,pose1_to_pose2_press,0.617414130319,9.07785713032e-05,1.04003219686,0.587984580948,0.00876251770581,1.0397003279
+244,4.066666667,pose1_to_pose2_press,0.617414165022,9.07897986662e-05,1.04003218818,0.587984615392,0.00876252805636,1.03970031926
+245,4.083333333,pose1_to_pose2_press,0.617414166925,9.07904144957e-05,1.0400321877,0.587984617281,0.0087625286241,1.03970031879
+246,4.100000000,pose1_to_pose2_press,0.617414259339,9.08203128102e-05,1.04003216459,0.587984709005,0.00876255618747,1.0397002958
+247,4.116666667,pose1_to_pose2_press,0.617414522174,9.08171131211e-05,1.04003213518,0.587984971384,0.00876255133746,1.03970026369
+248,4.133333333,pose1_to_pose2_press,0.61741455227,9.0793767236e-05,1.04003214127,0.587985001819,0.00876252910233,1.03970026868
+249,4.150000000,pose1_to_pose2_press,0.617414568262,9.07813615671e-05,1.04003214451,0.587985017991,0.00876251728691,1.03970027133
+250,4.166666667,pose1_to_pose2_press,0.61741464838,9.07192125625e-05,1.04003216072,0.587985099014,0.0087624580933,1.03970028461
+251,4.183333333,pose2_hold,0.61741464838,9.07192125625e-05,1.04003216072,0.587985099016,0.00876245809096,1.03970028461
+252,4.200000000,pose2_hold,0.61741464838,9.07192125625e-05,1.04003216072,0.587985099016,0.00876245809214,1.03970028461
+253,4.216666667,pose2_hold,0.61741464838,9.07192125625e-05,1.04003216072,0.587985099016,0.00876245809112,1.03970028461
+254,4.233333333,pose2_hold,0.61741464838,9.07192125625e-05,1.04003216072,0.587985099016,0.00876245809133,1.03970028461
+255,4.250000000,pose2_hold,0.61741464838,9.07192125625e-05,1.04003216072,0.587985099016,0.00876245809118,1.03970028461
+256,4.266666667,pose2_hold,0.61741464838,9.07192125625e-05,1.04003216072,0.587985099016,0.00876245809128,1.03970028461
+257,4.283333333,pose2_hold,0.61741464838,9.07192125625e-05,1.04003216072,0.587985099016,0.00876245809115,1.03970028461
+258,4.300000000,pose2_hold,0.61741464838,9.07192125625e-05,1.04003216072,0.587985099017,0.0087624580917,1.03970028461
+259,4.316666667,pose2_hold,0.61741464838,9.07192125625e-05,1.04003216072,0.587985099016,0.00876245809115,1.03970028461
+260,4.333333333,pose2_hold,0.61741464838,9.07192125625e-05,1.04003216072,0.587985099017,0.00876245809111,1.03970028461
+261,4.350000000,pose2_hold,0.61741464838,9.07192125625e-05,1.04003216072,0.587985099017,0.00876245809146,1.03970028461
+262,4.366666667,pose2_hold,0.61741464838,9.07192125625e-05,1.04003216072,0.587985099016,0.00876245809115,1.03970028461
+263,4.383333333,pose2_hold,0.61741464838,9.07192125625e-05,1.04003216072,0.587985099016,0.0087624580914,1.03970028461
+264,4.400000000,pose2_hold,0.61741464838,9.07192125625e-05,1.04003216072,0.587985099017,0.00876245809137,1.03970028461
+265,4.416666667,pose2_hold,0.61741464838,9.07192125625e-05,1.04003216072,0.587985099017,0.00876245809098,1.03970028461
+266,4.433333333,pose2_hold,0.61741464838,9.07192125625e-05,1.04003216072,0.587985099017,0.00876245809126,1.03970028461
+267,4.450000000,pose2_to_pose3_retreat,0.61741464838,9.07192125625e-05,1.04003216072,0.587985099017,0.00876245809131,1.03970028461
+268,4.466666667,pose2_to_pose3_retreat,0.61741437343,9.07116008261e-05,1.040032189,0.587984825056,0.00876245406375,1.03970031916
+269,4.483333333,pose2_to_pose3_retreat,0.617414124968,9.07240295819e-05,1.04003226871,0.58798457654,0.00876246620512,1.03970039604
+270,4.500000000,pose2_to_pose3_retreat,0.617413858853,9.07579646219e-05,1.04003226002,0.587984309722,0.0087624978088,1.0397003889
+271,4.516666667,pose2_to_pose3_retreat,0.617413816068,9.07634206801e-05,1.04003225862,0.587984266823,0.00876250289002,1.03970038775
+272,4.533333333,pose2_to_pose3_retreat,0.617413731846,9.07741605966e-05,1.04003225587,0.587984182379,0.0087625128921,1.03970038549
+273,4.550000000,pose2_to_pose3_retreat,0.617413480749,9.08061806686e-05,1.04003224767,0.587983930618,0.00876254271237,1.03970037874
+274,4.566666667,pose2_to_pose3_retreat,0.617412692039,9.08597948888e-05,1.04003225143,0.587983140931,0.0087625930923,1.03970038472
+275,4.583333333,pose2_to_pose3_retreat,0.617410623899,9.0844876624e-05,1.04003235905,0.58798107389,0.00876258186327,1.03970049031
+276,4.600000000,pose2_to_pose3_retreat,0.6174040649,9.0731621679e-05,1.04003247991,0.587974516946,0.00876247537714,1.03970060573
+277,4.616666667,pose2_to_pose3_retreat,0.617391087572,9.08646357231e-05,1.04003224955,0.587961538117,0.00876260350577,1.03970038187
+278,4.633333333,pose2_to_pose3_retreat,0.61736894686,9.06781111202e-05,1.04003225952,0.587939399493,0.00876242387188,1.03970038935
+279,4.650000000,pose2_to_pose3_retreat,0.617336995376,9.08510690209e-05,1.04003239444,0.587907447283,0.00876259426054,1.03970052127
+280,4.666666667,pose2_to_pose3_retreat,0.617293825649,9.09453161936e-05,1.04003232464,0.587864273795,0.00876267554529,1.03970044736
+281,4.683333333,pose2_to_pose3_retreat,0.617241738468,9.07600913802e-05,1.04003211368,0.587812189865,0.00876250161626,1.03970024633
+282,4.700000000,pose2_to_pose3_retreat,0.617181597849,9.06535720893e-05,1.04003232203,0.587752050325,0.0087623981306,1.03970044737
+283,4.716666667,pose2_to_pose3_retreat,0.617114044415,9.06529636114e-05,1.04003216575,0.587684496386,0.00876239631216,1.03970030341
+284,4.733333333,pose2_to_pose3_retreat,0.617039250506,9.06673060129e-05,1.04003238851,0.587609702386,0.00876241024829,1.03970051653
+285,4.750000000,pose2_to_pose3_retreat,0.616954311344,9.07258980646e-05,1.04003240367,0.587524762556,0.00876246635952,1.03970052676
+286,4.766666667,pose2_to_pose3_retreat,0.616857643594,9.07390437014e-05,1.04003222726,0.587428094705,0.0087624797313,1.03970036742
+287,4.783333333,pose2_to_pose3_retreat,0.616745402443,9.07963800586e-05,1.04003215222,0.58731585194,0.00876253135779,1.03970028753
+288,4.800000000,pose2_to_pose3_retreat,0.61661627904,9.07400075137e-05,1.04003210983,0.587186729528,0.00876247828882,1.03970024639
+289,4.816666667,pose2_to_pose3_retreat,0.616468641287,9.06805062554e-05,1.04003226731,0.587039093694,0.00876242522928,1.03970040471
+290,4.833333333,pose2_to_pose3_retreat,0.616303711883,9.07446844289e-05,1.04003238615,0.586874164097,0.0087624885468,1.039700521
+291,4.850000000,pose2_to_pose3_retreat,0.616122570444,9.08490302204e-05,1.04003225505,0.586693020955,0.00876258698942,1.0397003912
+292,4.866666667,pose2_to_pose3_retreat,0.615925196423,9.08319318759e-05,1.04003235394,0.586495646617,0.00876256855579,1.03970048615
+293,4.883333333,pose2_to_pose3_retreat,0.615711264895,9.07695597933e-05,1.04003226651,0.586281715878,0.00876250866752,1.03970039635
+294,4.900000000,pose2_to_pose3_retreat,0.61547796469,9.08147893876e-05,1.04003244755,0.586048414965,0.00876255147271,1.03970058148
+295,4.916666667,pose2_to_pose3_retreat,0.615227499782,9.07938167688e-05,1.04003222168,0.585797951394,0.00876253486984,1.03970035492
+296,4.933333333,pose2_to_pose3_retreat,0.614960734924,9.08222010782e-05,1.04003236924,0.585531186271,0.00876256241503,1.03970050905
+297,4.950000000,pose2_to_pose3_retreat,0.614676018381,9.0781154172e-05,1.04003241758,0.585246470151,0.00876252258913,1.03970055706
+298,4.966666667,pose2_to_pose3_retreat,0.61437514927,9.07237962567e-05,1.04003227022,0.584945601752,0.00876246726342,1.03970040444
+299,4.983333333,pose2_to_pose3_retreat,0.614056310308,9.08078988141e-05,1.04003232288,0.584626761273,0.00876254622527,1.03970046208
+300,5.000000000,pose2_to_pose3_retreat,0.613713843365,9.07305732099e-05,1.04003223773,0.584284295779,0.00876247350545,1.03970037354
+301,5.016666667,pose2_to_pose3_retreat,0.613342789396,9.07825354896e-05,1.04003223225,0.583913241034,0.00876252260049,1.03970036636
+302,5.033333333,pose2_to_pose3_retreat,0.612945009144,9.08668083431e-05,1.0400322366,0.583515460845,0.00876260692038,1.03970037025
+303,5.050000000,pose2_to_pose3_retreat,0.612522383147,9.08761274711e-05,1.04003237314,0.583092834152,0.00876261381659,1.03970050736
+304,5.066666667,pose2_to_pose3_retreat,0.612086201044,9.07993174704e-05,1.04003235456,0.582656651464,0.00876253505019,1.03970049041
+305,5.083333333,pose2_to_pose3_retreat,0.611639277935,9.07563821282e-05,1.04003226164,0.582209728296,0.00876249192977,1.03970039791
+306,5.100000000,pose2_to_pose3_retreat,0.611180832387,9.08039101805e-05,1.04003237309,0.581751282972,0.00876254012738,1.03970050633
+307,5.116666667,pose2_to_pose3_retreat,0.610705049612,9.07017110961e-05,1.04003250039,0.58127550178,0.0087624431413,1.03970062883
+308,5.133333333,pose2_to_pose3_retreat,0.61020666671,9.06554684514e-05,1.04003230877,0.580777118834,0.00876239666934,1.03970043596
+309,5.150000000,pose2_to_pose3_retreat,0.609671018389,9.06845500656e-05,1.04003217402,0.580241471201,0.00876242818147,1.03970030411
+310,5.166666667,pose2_to_pose3_retreat,0.609101453368,9.07287874305e-05,1.04003225233,0.579671906403,0.00876247339382,1.03970038835
+311,5.183333333,pose2_to_pose3_retreat,0.60850536637,9.08198692173e-05,1.04003227636,0.579075817877,0.00876255934605,1.03970041426
+312,5.200000000,pose2_to_pose3_retreat,0.607891663172,9.08755580841e-05,1.0400321791,0.57846211322,0.00876261000462,1.03970031455
+313,5.216666667,pose2_to_pose3_retreat,0.607264386639,9.08476851761e-05,1.04003222835,0.577834837159,0.00876258371507,1.03970036211
+314,5.233333333,pose2_to_pose3_retreat,0.60662027868,9.08412939707e-05,1.04003250469,0.577190730289,0.00876258098782,1.03970063781
+315,5.250000000,pose2_to_pose3_retreat,0.605955694516,9.08565179458e-05,1.04003257703,0.576526146115,0.00876259600315,1.03970070641
+316,5.266666667,pose2_to_pose3_retreat,0.605279772471,9.07797966392e-05,1.04003226693,0.575850223923,0.00876251868359,1.03970039478
+317,5.283333333,pose2_to_pose3_retreat,0.604593623642,9.09746628286e-05,1.04003237172,0.57516407293,0.00876270627667,1.03970050106
+318,5.300000000,pose2_to_pose3_retreat,0.603897750343,9.07013116109e-05,1.04003239626,0.574468202543,0.00876244263658,1.03970052131
+319,5.316666667,pose2_to_pose3_retreat,0.603197273316,9.08418535376e-05,1.04003243784,0.573767723613,0.00876257700828,1.03970056969
+320,5.333333333,pose2_to_pose3_retreat,0.602490654953,9.08161612118e-05,1.04003228616,0.573061106112,0.00876255427234,1.03970041843
+321,5.350000000,pose2_to_pose3_retreat,0.601764105788,9.07272100976e-05,1.04003229385,0.572334558872,0.00876247174803,1.03970042367
+322,5.366666667,pose2_to_pose3_retreat,0.601018498606,9.0769480807e-05,1.04003237287,0.571588950892,0.0087625114258,1.03970050546
+323,5.383333333,pose2_to_pose3_retreat,0.600263445908,9.07910459018e-05,1.04003216729,0.570833896287,0.00876252666226,1.03970030271
+324,5.400000000,pose2_to_pose3_retreat,0.599504359156,9.08138968101e-05,1.04003237353,0.570074809123,0.0087625478826,1.03970050458
+325,5.416666667,pose2_to_pose3_retreat,0.598742571871,9.07577473566e-05,1.04003237363,0.569313023892,0.00876249872728,1.03970050405
+326,5.433333333,pose2_to_pose3_retreat,0.59798999039,9.0677486396e-05,1.04003235675,0.568560443894,0.00876242369567,1.03970049233
+327,5.450000000,pose2_to_pose3_retreat,0.59724972782,9.07776509791e-05,1.04003236434,0.567820179876,0.00876251883311,1.03970049692
+328,5.466666667,pose2_to_pose3_retreat,0.596502134678,9.0785521366e-05,1.04003239105,0.567072586039,0.00876252405846,1.03970051604
+329,5.483333333,pose2_to_pose3_retreat,0.595749820253,9.08042314118e-05,1.0400323647,0.566320270737,0.00876254000528,1.03970049518
+330,5.500000000,pose2_to_pose3_retreat,0.594996601341,9.08040089614e-05,1.04003224197,0.565567051588,0.00876253924761,1.03970038001
+331,5.516666667,pose2_to_pose3_retreat,0.594239615447,9.07426314074e-05,1.04003214761,0.564810067101,0.00876248250796,1.03970028224
+332,5.533333333,pose2_to_pose3_retreat,0.593479912989,9.07491157869e-05,1.04003229176,0.564050365881,0.0087624931536,1.03970042327
+333,5.550000000,pose2_to_pose3_retreat,0.592723662836,9.08895776437e-05,1.04003248666,0.563294113981,0.00876262771007,1.03970061852
+334,5.566666667,pose2_to_pose3_retreat,0.591970745527,9.07297067289e-05,1.04003234213,0.562541199037,0.00876247613779,1.03970048096
+335,5.583333333,pose2_to_pose3_retreat,0.59123306023,9.09036542755e-05,1.04003222274,0.561803511423,0.00876264232925,1.03970036428
+336,5.600000000,pose2_to_pose3_retreat,0.590508609008,9.08130546423e-05,1.0400323316,0.561079060874,0.00876255363723,1.03970046326
+337,5.616666667,pose2_to_pose3_retreat,0.589798825146,9.07439740956e-05,1.04003245507,0.560369277536,0.00876248619057,1.039700583
+338,5.633333333,pose2_to_pose3_retreat,0.589106132483,9.07617700635e-05,1.0400323766,0.559676584111,0.00876250148805,1.03970050675
+339,5.650000000,pose2_to_pose3_retreat,0.588429673349,9.07062430029e-05,1.04003224727,0.559000125704,0.00876244846978,1.03970037844
+340,5.666666667,pose2_to_pose3_retreat,0.587758103853,9.0610208552e-05,1.04003227939,0.558328558179,0.00876235909007,1.03970040963
+341,5.683333333,pose2_to_pose3_retreat,0.587090639186,9.0849189844e-05,1.0400323423,0.557661090081,0.00876258664568,1.03970047846
+342,5.700000000,pose2_to_pose3_retreat,0.586435448332,9.07412010443e-05,1.04003222234,0.557005900481,0.00876248291399,1.03970036038
+343,5.716666667,pose2_to_pose3_retreat,0.58579571698,9.06973475008e-05,1.0400322306,0.556366168197,0.00876243577169,1.03970036519
+344,5.733333333,pose2_to_pose3_retreat,0.585173857137,9.07088456321e-05,1.04003234314,0.555744310358,0.00876245392281,1.03970047418
+345,5.750000000,pose2_to_pose3_retreat,0.584574136358,9.07555406111e-05,1.04003239603,0.555144587747,0.00876249422018,1.03970052075
+346,5.766666667,pose2_to_pose3_retreat,0.583995418158,9.07884027568e-05,1.04003232337,0.554565870091,0.00876252903288,1.03970045015
+347,5.783333333,pose2_to_pose3_retreat,0.583437245222,9.08639050826e-05,1.04003225083,0.554007696745,0.00876260331062,1.03970038212
+348,5.800000000,pose2_to_pose3_retreat,0.582899815048,9.09553472467e-05,1.04003234851,0.553470263944,0.00876268591195,1.03970048164
+349,5.816666667,pose2_to_pose3_retreat,0.58238484644,9.09110425065e-05,1.04003255246,0.552955295501,0.00876264219439,1.03970068648
+350,5.833333333,pose2_to_pose3_retreat,0.581889281277,9.0646575707e-05,1.04003238007,0.55245973379,0.00876238920492,1.03970050807
+351,5.850000000,pose2_to_pose3_retreat,0.581412543268,9.06198615913e-05,1.04003224647,0.551982997057,0.00876236705266,1.03970038053
+352,5.866666667,pose2_to_pose3_retreat,0.580947105579,9.08332596731e-05,1.04003232018,0.551517556778,0.00876257175805,1.03970045672
+353,5.883333333,pose2_to_pose3_retreat,0.580494259461,9.08353208923e-05,1.04003205402,0.551064710736,0.00876257441142,1.03970019927
+354,5.900000000,pose2_to_pose3_retreat,0.580061836628,9.08859483685e-05,1.04003216573,0.550632285995,0.0087626179574,1.03970029566
+355,5.916666667,pose2_to_pose3_retreat,0.579654243443,9.07856818615e-05,1.0400323887,0.550224694153,0.00876252222174,1.03970051822
+356,5.933333333,pose2_to_pose3_retreat,0.579279041747,9.06702881549e-05,1.04003233037,0.549849494259,0.00876241307537,1.03970046304
+357,5.950000000,pose2_to_pose3_retreat,0.578933452476,9.07465727737e-05,1.04003223102,0.549503904127,0.00876248612697,1.03970035526
+358,5.966666667,pose2_to_pose3_retreat,0.578616839822,9.08973627251e-05,1.04003238184,0.549187290591,0.00876263396068,1.03970050697
+359,5.983333333,pose2_to_pose3_retreat,0.578320834125,9.07875455616e-05,1.04003218882,0.548891284406,0.0087625232734,1.03970033453
+360,6.000000000,pose2_to_pose3_retreat,0.578041265688,9.08074103913e-05,1.04003245237,0.548611716795,0.00876254535417,1.0397005827
+361,6.016666667,pose2_to_pose3_retreat,0.577772806813,9.07417251636e-05,1.04003240594,0.548343258407,0.00876248133072,1.03970053651
+362,6.033333333,pose2_to_pose3_retreat,0.577516422171,9.08031151681e-05,1.04003243994,0.548086872981,0.00876254008339,1.03970057121
+363,6.050000000,pose2_to_pose3_retreat,0.577274848462,9.0844323861e-05,1.04003241394,0.547845298742,0.00876257949679,1.0397005454
+364,6.066666667,pose2_to_pose3_retreat,0.577052904663,9.08171606397e-05,1.04003230604,0.547623355234,0.00876255330919,1.03970043717
+365,6.083333333,pose2_to_pose3_retreat,0.576851777136,9.07521135584e-05,1.04003229146,0.547422228718,0.00876249177025,1.03970042455
+366,6.100000000,pose2_to_pose3_retreat,0.576675839734,9.07173066017e-05,1.04003230973,0.547246291689,0.00876245828123,1.03970044428
+367,6.116666667,pose2_to_pose3_retreat,0.576522292514,9.07703728735e-05,1.04003225624,0.547092743623,0.00876250829951,1.03970038633
+368,6.133333333,pose2_to_pose3_retreat,0.576389831496,9.07864875103e-05,1.04003223868,0.546960283082,0.00876252598761,1.0397003675
+369,6.150000000,pose2_to_pose3_retreat,0.57627362702,9.07903743815e-05,1.04003200144,0.546844077337,0.00876252583276,1.03970013727
+370,6.166666667,pose2_to_pose3_retreat,0.576172916517,9.09479560128e-05,1.04003225723,0.546743365285,0.00876267824047,1.03970039517
+371,6.183333333,pose2_to_pose3_retreat,0.576082544662,9.0944669392e-05,1.04003227589,0.546652993743,0.00876267589312,1.03970041117
+372,6.200000000,pose2_to_pose3_retreat,0.57600207142,9.08185024774e-05,1.04003230314,0.54657252236,0.00876255587329,1.03970043446
+373,6.216666667,pose2_to_pose3_retreat,0.575932064717,9.07728959051e-05,1.0400323766,0.546502515996,0.00876251130078,1.03970050473
+374,6.233333333,pose2_to_pose3_retreat,0.575872149247,9.0841436828e-05,1.04003237781,0.546442599614,0.00876257670033,1.03970050476
+375,6.250000000,pose2_to_pose3_retreat,0.575823102545,9.07581659843e-05,1.04003238752,0.54639355625,0.00876250484314,1.03970051659
+376,6.266666667,pose2_to_pose3_retreat,0.575783472218,9.08089570511e-05,1.04003249,0.546353925487,0.0087625541994,1.03970062022
+377,6.283333333,pose2_to_pose3_retreat,0.575752482328,9.06905778603e-05,1.0400325912,0.546322935673,0.00876243610579,1.03970072226
+378,6.300000000,pose2_to_pose3_retreat,0.57572837232,9.0804649093e-05,1.04003262022,0.546298824286,0.00876254542299,1.03970074929
+379,6.316666667,pose2_to_pose3_retreat,0.575709807731,9.07634472706e-05,1.0400323909,0.546280260468,0.00876250696771,1.03970052346
+380,6.333333333,pose2_to_pose3_retreat,0.575695434959,9.06088036421e-05,1.0400321819,0.546265889484,0.00876235848777,1.03970031702
+381,6.350000000,pose2_to_pose3_retreat,0.57568480305,9.06184090934e-05,1.04003252155,0.546255256698,0.00876236462913,1.03970064403
+382,6.366666667,pose2_to_pose3_retreat,0.575677768829,9.08206094496e-05,1.04003229762,0.546248219739,0.00876255799878,1.03970043211
+383,6.383333333,pose2_to_pose3_retreat,0.575672975023,9.08169546818e-05,1.04003227898,0.546243425608,0.00876255323959,1.03970041335
+384,6.400000000,pose2_to_pose3_retreat,0.575670086104,9.0708812945e-05,1.04003237312,0.546240537648,0.00876244810724,1.03970050101
+385,6.416666667,pose2_to_pose3_retreat,0.575668503156,9.07238648476e-05,1.04003243727,0.546238954615,0.00876246273816,1.03970056176
+386,6.433333333,pose2_to_pose3_retreat,0.575667667971,9.07518055675e-05,1.0400324745,0.546238119219,0.00876248989965,1.03970059724
+387,6.450000000,pose2_to_pose3_retreat,0.57566723249,9.07663743702e-05,1.04003249392,0.546237683629,0.00876250406214,1.03970061574
+388,6.466666667,pose2_to_pose3_retreat,0.575667073737,9.07716853566e-05,1.04003250099,0.546237524836,0.00876250922501,1.03970062249
+389,6.483333333,pose2_to_pose3_retreat,0.57566699086,9.07744579657e-05,1.04003250469,0.546237441938,0.0087625119203,1.03970062601
+390,6.500000000,pose2_to_pose3_retreat,0.575666984393,9.07746743354e-05,1.04003250498,0.546237435469,0.00876251213063,1.03970062628
+391,6.516666667,pose2_to_pose3_retreat,0.575666870361,9.0778489217e-05,1.04003251006,0.546237321409,0.00876251583912,1.03970063113
+392,6.533333333,pose2_to_pose3_retreat,0.575666772541,9.07817617234e-05,1.04003251442,0.546237223564,0.00876251902036,1.03970063528
+393,6.550000000,pose2_to_pose3_retreat,0.575666598247,9.07875926488e-05,1.04003252219,0.546237049226,0.00876252468867,1.03970064269
+394,6.566666667,pose2_to_pose3_retreat,0.575666271204,9.08039515212e-05,1.04003251961,0.546236722048,0.00876254058492,1.03970064008
+395,6.583333333,pose2_to_pose3_retreat,0.575666212639,9.08084979208e-05,1.04003251402,0.546236663442,0.00876254500147,1.03970063469
+396,6.600000000,pose2_to_pose3_retreat,0.575666016393,9.08237322889e-05,1.04003249531,0.546236467061,0.00876255980073,1.03970061663
+397,6.616666667,pose2_to_pose3_retreat,0.575665980008,9.08265568655e-05,1.04003249184,0.54623643065,0.00876256254464,1.03970061328
+398,6.633333333,pose2_to_pose3_retreat,0.575665970778,9.08272733377e-05,1.04003249096,0.546236421414,0.00876256324065,1.03970061243
+399,6.650000000,pose2_to_pose3_retreat,0.575665851674,9.08365193242e-05,1.0400324796,0.546236302228,0.00876257222256,1.03970060146
+400,6.666666667,pose2_to_pose3_retreat,0.575665731973,9.08458115973e-05,1.04003246819,0.546236182444,0.00876258124944,1.03970059044
+401,6.683333333,pose2_to_pose3_retreat,0.575665634852,9.08533510165e-05,1.04003245893,0.546236085256,0.00876258857353,1.0397005815
+402,6.700000000,pose2_to_pose3_retreat,0.575665629748,9.08537472641e-05,1.04003245844,0.546236080148,0.00876258895846,1.03970058103
+403,6.716666667,pose2_to_pose3_retreat,0.575665496405,9.08640985852e-05,1.04003244573,0.546235946713,0.00876259901414,1.03970056876
+404,6.733333333,pose2_to_pose3_retreat,0.575665397005,9.08718149142e-05,1.04003243625,0.546235847244,0.00876260651009,1.03970055961
+405,6.750000000,pose2_to_pose3_retreat,0.575665296393,9.08796253667e-05,1.04003242666,0.546235746563,0.00876261409747,1.03970055035
+406,6.766666667,pose2_to_pose3_retreat,0.57566517301,9.08892034178e-05,1.04003241489,0.546235623095,0.00876262340196,1.03970053899
+407,6.783333333,pose2_to_pose3_retreat,0.575665110201,9.08940792585e-05,1.0400324089,0.546235560242,0.00876262813855,1.03970053321
+408,6.800000000,pose2_to_pose3_retreat,0.57566489531,9.08730225184e-05,1.04003239685,0.546235345474,0.0087626075298,1.03970052197
+409,6.816666667,pose2_to_pose3_retreat,0.575664583393,9.08058142544e-05,1.04003238756,0.546235033999,0.00876254186943,1.03970051394
+410,6.833333333,pose2_to_pose3_retreat,0.575664407812,9.0772965491e-05,1.0400323705,0.546234859436,0.00876251258555,1.03970049978
+411,6.850000000,pose2_to_pose3_retreat,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613232,1.03970050298

Part2/Obstacle_avoidance/cylinder_0050_17.5/position_02/depth_02/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd7f87706b1ee086e82133644e78e01f10fd2739d28ec26969ad55558c822136
+size 26263344

Part2/Obstacle_avoidance/cylinder_0050_17.5/position_02/depth_02/simulation_data.csv

@@ -0,0 +1,414 @@
+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,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+1,0.016666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+2,0.033333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+3,0.050000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+4,0.066666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+5,0.083333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+6,0.100000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+7,0.116666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+8,0.133333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+9,0.150000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+10,0.166666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+11,0.183333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+12,0.200000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+13,0.216666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+14,0.233333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+15,0.250000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+16,0.266666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+17,0.283333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+18,0.300000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+19,0.316666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+20,0.333333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+21,0.350000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+22,0.366666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+23,0.383333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+24,0.400000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+25,0.416666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+26,0.433333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+27,0.450000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+28,0.466666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+29,0.483333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+30,0.500000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+31,0.516666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+32,0.533333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+33,0.550000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+34,0.566666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+35,0.583333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+36,0.600000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+37,0.616666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+38,0.633333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+39,0.650000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+40,0.666666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+41,0.683333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+42,0.700000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+43,0.716666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+44,0.733333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+45,0.750000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+46,0.766666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+47,0.783333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+48,0.800000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+49,0.816666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+50,0.833333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+51,0.850000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+52,0.866666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+53,0.883333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+54,0.900000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+55,0.916666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+56,0.933333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+57,0.950000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+58,0.966666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+59,0.983333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+60,1.000000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+61,1.016666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+62,1.033333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+63,1.050000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+64,1.066666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+65,1.083333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+66,1.100000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+67,1.116666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+68,1.133333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+69,1.150000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+70,1.166666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+71,1.183333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+72,1.200000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+73,1.216666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+74,1.233333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+75,1.250000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+76,1.266666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+77,1.283333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+78,1.300000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+79,1.316666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+80,1.333333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+81,1.350000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+82,1.366666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+83,1.383333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+84,1.400000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+85,1.416666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+86,1.433333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+87,1.450000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+88,1.466666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+89,1.483333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+90,1.500000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+91,1.516666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+92,1.533333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+93,1.550000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+94,1.566666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+95,1.583333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+96,1.600000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+97,1.616666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+98,1.633333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+99,1.650000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+100,1.666666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+101,1.683333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+102,1.700000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+103,1.716666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+104,1.733333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+105,1.750000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+106,1.766666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+107,1.783333333,pose1_to_pose2_press,0.57566436402,9.07680344871e-05,1.0400323585,0.546234816401,0.00876251030681,1.03970048994
+108,1.800000000,pose1_to_pose2_press,0.575664373183,9.07739430383e-05,1.04003233751,0.546234825315,0.00876251539981,1.03970046974
+109,1.816666667,pose1_to_pose2_press,0.575664401997,9.07925213403e-05,1.04003227151,0.546234853345,0.00876253141377,1.03970040621
+110,1.833333333,pose1_to_pose2_press,0.575664523291,9.07807304717e-05,1.04003219772,0.546234974381,0.00876251881956,1.03970033439
+111,1.850000000,pose1_to_pose2_press,0.575664726994,9.07247194549e-05,1.04003215588,0.546235178872,0.00876246547935,1.03970029248
+112,1.866666667,pose1_to_pose2_press,0.575664926282,9.06699224538e-05,1.04003211494,0.54623537893,0.00876241329527,1.03970025147
+113,1.883333333,pose1_to_pose2_press,0.575665284148,9.06840842242e-05,1.04003219232,0.546235736625,0.00876242674487,1.03970032538
+114,1.900000000,pose1_to_pose2_press,0.575666262861,9.07879765137e-05,1.04003249129,0.546236713972,0.00876252556098,1.03970061289
+115,1.916666667,pose1_to_pose2_press,0.575668796836,9.08747326958e-05,1.04003225743,0.546239246733,0.00876260874834,1.03970039335
+116,1.933333333,pose1_to_pose2_press,0.575675844047,9.08396005994e-05,1.04003236586,0.546246295117,0.00876257762831,1.03970050257
+117,1.950000000,pose1_to_pose2_press,0.575688778204,9.07134050209e-05,1.04003234511,0.546259230353,0.00876245509329,1.03970048168
+118,1.966666667,pose1_to_pose2_press,0.575711776677,9.07191658189e-05,1.04003239168,0.54628222848,0.00876245919696,1.0397005157
+119,1.983333333,pose1_to_pose2_press,0.575745308352,9.07384254762e-05,1.04003232723,0.546315759383,0.00876247618076,1.03970046015
+120,2.000000000,pose1_to_pose2_press,0.575789170522,9.07739914574e-05,1.04003229673,0.546359622454,0.00876251492581,1.03970043264
+121,2.016666667,pose1_to_pose2_press,0.575841841106,9.07416680992e-05,1.04003244942,0.546412292733,0.00876248145392,1.03970058236
+122,2.033333333,pose1_to_pose2_press,0.575902917078,9.07530115829e-05,1.04003244796,0.54647336989,0.00876249627392,1.03970056666
+123,2.050000000,pose1_to_pose2_press,0.575970189387,9.06689376376e-05,1.04003230651,0.546540642415,0.00876241318765,1.03970043173
+124,2.066666667,pose1_to_pose2_press,0.576044164791,9.07582879578e-05,1.0400322306,0.546614616272,0.0087624976896,1.03970036631
+125,2.083333333,pose1_to_pose2_press,0.576127451244,9.07992787159e-05,1.04003222584,0.546697902038,0.00876253636326,1.03970036191
+126,2.100000000,pose1_to_pose2_press,0.576221269939,9.07847246844e-05,1.04003230261,0.546791720625,0.00876252117518,1.03970043158
+127,2.116666667,pose1_to_pose2_press,0.576328894875,9.07612047826e-05,1.0400323953,0.546899346284,0.00876249994053,1.03970051987
+128,2.133333333,pose1_to_pose2_press,0.576450315867,9.06190046452e-05,1.0400323251,0.547020770506,0.00876236892901,1.03970045546
+129,2.150000000,pose1_to_pose2_press,0.576586244733,9.05414471294e-05,1.04003213723,0.547156699349,0.00876229143562,1.03970027136
+130,2.166666667,pose1_to_pose2_press,0.576739650078,9.07447089012e-05,1.04003236751,0.547310103557,0.00876249067504,1.03970049725
+131,2.183333333,pose1_to_pose2_press,0.576910186424,9.07741473956e-05,1.04003225902,0.547480638692,0.00876251610776,1.03970039149
+132,2.200000000,pose1_to_pose2_press,0.577099044813,9.07390985005e-05,1.04003216482,0.547669497031,0.00876248072907,1.03970029298
+133,2.216666667,pose1_to_pose2_press,0.577307229128,9.07224240665e-05,1.0400322646,0.5478776814,0.00876246458208,1.0397004017
+134,2.233333333,pose1_to_pose2_press,0.577537610468,9.07560600124e-05,1.04003237012,0.548108062356,0.00876249669427,1.03970050139
+135,2.250000000,pose1_to_pose2_press,0.577788477226,9.07905485455e-05,1.04003236944,0.548358929174,0.00876253137137,1.03970050024
+136,2.266666667,pose1_to_pose2_press,0.578059768717,9.07578787107e-05,1.04003229682,0.548630221385,0.00876250131797,1.03970043216
+137,2.283333333,pose1_to_pose2_press,0.578353726366,9.07084340217e-05,1.04003224895,0.548924179295,0.00876245260922,1.03970038033
+138,2.300000000,pose1_to_pose2_press,0.578667079487,9.07087860709e-05,1.040032253,0.549237531621,0.00876245016778,1.03970038181
+139,2.316666667,pose1_to_pose2_press,0.578995719571,9.0772599285e-05,1.04003231307,0.549566170172,0.00876250876779,1.03970044147
+140,2.333333333,pose1_to_pose2_press,0.579337447773,9.09197810867e-05,1.04003251483,0.54990789693,0.00876265090515,1.03970063942
+141,2.350000000,pose1_to_pose2_press,0.579692260548,9.0752590232e-05,1.04003252996,0.550262712673,0.00876249358706,1.03970064929
+142,2.366666667,pose1_to_pose2_press,0.580061965044,9.06205020662e-05,1.04003223383,0.550632419007,0.00876236849424,1.03970037285
+143,2.383333333,pose1_to_pose2_press,0.580449400747,9.07090686859e-05,1.04003230766,0.551019853311,0.00876245234766,1.03970044751
+144,2.400000000,pose1_to_pose2_press,0.580866186033,9.08366324612e-05,1.04003219217,0.551436636711,0.00876257332772,1.03970032726
+145,2.416666667,pose1_to_pose2_press,0.581313244392,9.08219792866e-05,1.04003240666,0.551883695164,0.00876255879851,1.03970053658
+146,2.433333333,pose1_to_pose2_press,0.581793771094,9.08136709833e-05,1.04003241317,0.552364222727,0.00876255359478,1.03970054779
+147,2.450000000,pose1_to_pose2_press,0.582297445548,9.075217944e-05,1.04003227991,0.552867898294,0.00876249599223,1.03970041741
+148,2.466666667,pose1_to_pose2_press,0.582820731208,9.06615224521e-05,1.04003236081,0.55339118433,0.00876240646106,1.03970049437
+149,2.483333333,pose1_to_pose2_press,0.583350699918,9.07504579763e-05,1.04003230917,0.553921151645,0.0087624907676,1.03970044537
+150,2.500000000,pose1_to_pose2_press,0.583886946544,9.08212757906e-05,1.04003221381,0.554457397769,0.00876255998033,1.03970035256
+151,2.516666667,pose1_to_pose2_press,0.584436909098,9.07574240227e-05,1.04003223735,0.555007361072,0.0087624985192,1.03970037209
+152,2.533333333,pose1_to_pose2_press,0.585007490966,9.07712876512e-05,1.04003221668,0.555577943982,0.00876251601525,1.03970035395
+153,2.550000000,pose1_to_pose2_press,0.585605563019,9.0759133633e-05,1.04003219363,0.556176015664,0.00876250285149,1.03970033739
+154,2.566666667,pose1_to_pose2_press,0.586225567469,9.07562535886e-05,1.04003233618,0.556796019816,0.00876249856646,1.03970046955
+155,2.583333333,pose1_to_pose2_press,0.586862897777,9.08704366518e-05,1.04003245694,0.55743334753,0.00876260387259,1.0397005884
+156,2.600000000,pose1_to_pose2_press,0.587509860651,9.07249393435e-05,1.04003238889,0.558080311767,0.00876246322892,1.03970052625
+157,2.616666667,pose1_to_pose2_press,0.588164883522,9.06551370777e-05,1.04003220355,0.558735335914,0.00876239784612,1.03970034328
+158,2.633333333,pose1_to_pose2_press,0.588832954723,9.07155402569e-05,1.0400320835,0.55940340636,0.00876245577649,1.03970022555
+159,2.650000000,pose1_to_pose2_press,0.589517846102,9.07449422616e-05,1.04003208865,0.560088296843,0.00876248210872,1.03970023
+160,2.666666667,pose1_to_pose2_press,0.590219905768,9.07234378378e-05,1.0400322192,0.560790357441,0.00876246346318,1.03970035254
+161,2.683333333,pose1_to_pose2_press,0.590929740422,9.07103291162e-05,1.04003243296,0.561500194087,0.00876245718628,1.03970056814
+162,2.700000000,pose1_to_pose2_press,0.59164507271,9.08290232192e-05,1.04003221211,0.562215523429,0.00876256600531,1.0397003505
+163,2.716666667,pose1_to_pose2_press,0.592372749833,9.07747325631e-05,1.04003219655,0.562943201327,0.00876251448448,1.03970033865
+164,2.733333333,pose1_to_pose2_press,0.593110647534,9.08982192162e-05,1.04003212005,0.563681097197,0.00876263157585,1.03970025746
+165,2.750000000,pose1_to_pose2_press,0.593853788501,9.06491611439e-05,1.04003211794,0.564424242002,0.00876239545147,1.03970025296
+166,2.766666667,pose1_to_pose2_press,0.5946057622,9.06466646925e-05,1.04003223151,0.565176214762,0.00876238956147,1.03970036112
+167,2.783333333,pose1_to_pose2_press,0.595364175775,9.06142002524e-05,1.04003225041,0.565934627662,0.00876235482977,1.03970038065
+168,2.800000000,pose1_to_pose2_press,0.596116345017,9.08101575309e-05,1.04003222925,0.56668679583,0.00876254731642,1.03970036411
+169,2.816666667,pose1_to_pose2_press,0.596865342807,9.09533672121e-05,1.04003229239,0.567435791741,0.00876268412425,1.0397004267
+170,2.833333333,pose1_to_pose2_press,0.597610621141,9.09178714697e-05,1.04003236609,0.568181070781,0.00876265089983,1.03970049711
+171,2.850000000,pose1_to_pose2_press,0.598354169707,9.08527574396e-05,1.0400324162,0.568924621725,0.00876259377072,1.03970054504
+172,2.866666667,pose1_to_pose2_press,0.599097580638,9.08057713453e-05,1.04003245302,0.569668031951,0.00876254431292,1.03970057991
+173,2.883333333,pose1_to_pose2_press,0.599838541869,9.07564573701e-05,1.04003222794,0.570408992808,0.00876249393204,1.03970036018
+174,2.900000000,pose1_to_pose2_press,0.600578490909,9.07350048022e-05,1.04003210649,0.57114894195,0.00876247296199,1.03970024232
+175,2.916666667,pose1_to_pose2_press,0.601310557416,9.08146720721e-05,1.04003235946,0.571881008898,0.0087625538921,1.03970048927
+176,2.933333333,pose1_to_pose2_press,0.60203776455,9.06488755747e-05,1.0400324795,0.572608217322,0.00876239244456,1.03970060853
+177,2.950000000,pose1_to_pose2_press,0.602766445087,9.07003859523e-05,1.04003232969,0.57333689777,0.00876244348388,1.03970045442
+178,2.966666667,pose1_to_pose2_press,0.603488123888,9.09029397003e-05,1.04003233801,0.57405857413,0.00876263792902,1.03970046746
+179,2.983333333,pose1_to_pose2_press,0.60420022607,9.07990313225e-05,1.04003235707,0.574770677261,0.00876253737066,1.03970048992
+180,3.000000000,pose1_to_pose2_press,0.604901887437,9.06705714888e-05,1.04003235969,0.575472340724,0.00876241604725,1.0397004933
+181,3.016666667,pose1_to_pose2_press,0.605587423592,9.0628988523e-05,1.04003235649,0.576157877755,0.00876237750027,1.03970049186
+182,3.033333333,pose1_to_pose2_press,0.606251548677,9.06707659538e-05,1.04003240388,0.576822002913,0.00876241949471,1.03970053843
+183,3.050000000,pose1_to_pose2_press,0.60690301867,9.08095571234e-05,1.04003246819,0.577473471859,0.00876255453868,1.03970059776
+184,3.066666667,pose1_to_pose2_press,0.607548732484,9.08221395283e-05,1.04003233012,0.578119183538,0.00876255984288,1.03970045901
+185,3.083333333,pose1_to_pose2_press,0.608185728607,9.07563765899e-05,1.04003216331,0.578756180483,0.00876249696571,1.03970029483
+186,3.100000000,pose1_to_pose2_press,0.608809302638,9.07611287964e-05,1.04003237179,0.579379754688,0.00876250223535,1.03970050143
+187,3.116666667,pose1_to_pose2_press,0.609410094514,9.07238780987e-05,1.04003233606,0.579980546945,0.00876246659553,1.03970047412
+188,3.133333333,pose1_to_pose2_press,0.609984336075,9.07758037745e-05,1.04003236967,0.580554788045,0.00876251670767,1.03970050134
+189,3.150000000,pose1_to_pose2_press,0.610526259415,9.07781568207e-05,1.04003226259,0.581096711256,0.00876251866515,1.03970039541
+190,3.166666667,pose1_to_pose2_press,0.611050965671,9.07152684105e-05,1.04003234393,0.581621417778,0.00876245645845,1.03970047105
+191,3.183333333,pose1_to_pose2_press,0.611562412052,9.06164976096e-05,1.04003220965,0.582132865674,0.00876236306163,1.03970034311
+192,3.200000000,pose1_to_pose2_press,0.612051004808,9.07518432372e-05,1.04003229492,0.582621456941,0.00876249334726,1.0397004281
+193,3.216666667,pose1_to_pose2_press,0.612513745238,9.0881755048e-05,1.04003241598,0.583084195859,0.0087626179664,1.03970054358
+194,3.233333333,pose1_to_pose2_press,0.612947643808,9.07720481587e-05,1.04003227501,0.583518095746,0.00876251297268,1.03970040627
+195,3.250000000,pose1_to_pose2_press,0.613357882807,9.07341275214e-05,1.04003232217,0.583928333797,0.0087624721952,1.03970045966
+196,3.266666667,pose1_to_pose2_press,0.613749789569,9.06722914852e-05,1.04003224199,0.584320242535,0.00876241719401,1.03970037823
+197,3.283333333,pose1_to_pose2_press,0.614135110385,9.07558004542e-05,1.04003221179,0.584705562032,0.00876249657913,1.03970035056
+198,3.300000000,pose1_to_pose2_press,0.614515463884,9.07517044195e-05,1.04003252286,0.585085915614,0.00876249247374,1.03970064889
+199,3.316666667,pose1_to_pose2_press,0.614880698078,9.08567112058e-05,1.0400324628,0.585451149231,0.00876259581336,1.03970059085
+200,3.333333333,pose1_to_pose2_press,0.615225199148,9.08453361466e-05,1.04003237694,0.585795650606,0.00876258571014,1.03970050564
+201,3.350000000,pose1_to_pose2_press,0.615535522804,9.08143730232e-05,1.04003249409,0.586105974925,0.00876255726691,1.03970062255
+202,3.366666667,pose1_to_pose2_press,0.615816282568,9.08066000408e-05,1.04003251744,0.586386734809,0.0087625500872,1.03970064417
+203,3.383333333,pose1_to_pose2_press,0.616069622245,9.07502820495e-05,1.0400323148,0.586640073946,0.00876249182006,1.03970043477
+204,3.400000000,pose1_to_pose2_press,0.61630899861,9.08326866234e-05,1.04003236156,0.586879447782,0.00876256634689,1.03970049251
+205,3.416666667,pose1_to_pose2_press,0.616537436269,9.09226197002e-05,1.04003226348,0.587107886177,0.00876265883467,1.03970039669
+206,3.433333333,pose1_to_pose2_press,0.616757209336,9.08480613828e-05,1.04003223386,0.587327660048,0.00876258717862,1.03970036846
+207,3.450000000,pose1_to_pose2_press,0.616966007845,9.06821035196e-05,1.04003248296,0.587536459666,0.00876242487291,1.03970061108
+208,3.466666667,pose1_to_pose2_press,0.617159141144,9.07553283456e-05,1.04003243036,0.587729591602,0.00876249349796,1.03970055607
+209,3.483333333,pose1_to_pose2_press,0.617333868934,9.08047297411e-05,1.04003219372,0.587904319654,0.0087625441359,1.03970032536
+210,3.500000000,pose1_to_pose2_press,0.617488732057,9.07425265977e-05,1.04003214201,0.588059184125,0.00876248691175,1.03970028141
+211,3.516666667,pose1_to_pose2_press,0.617625725313,9.08293082687e-05,1.04003227136,0.588196175614,0.00876256782828,1.03970041132
+212,3.533333333,pose1_to_pose2_press,0.61774616076,9.10024392483e-05,1.04003248477,0.588316608818,0.00876273310353,1.03970061416
+213,3.550000000,pose1_to_pose2_press,0.617851514917,9.09598347808e-05,1.04003250474,0.588421964105,0.00876269433327,1.03970063212
+214,3.566666667,pose1_to_pose2_press,0.617944240779,9.08848908645e-05,1.04003250918,0.588514690273,0.00876262053283,1.03970063702
+215,3.583333333,pose1_to_pose2_press,0.618024967148,9.0683806812e-05,1.04003223371,0.588595418588,0.00876242621572,1.03970036571
+216,3.600000000,pose1_to_pose2_press,0.618096816701,9.07213317621e-05,1.04003225238,0.588667267591,0.00876246212747,1.03970038452
+217,3.616666667,pose1_to_pose2_press,0.618160116203,9.081131148e-05,1.04003236078,0.588730566201,0.00876254964777,1.03970049273
+218,3.633333333,pose1_to_pose2_press,0.618214391487,9.07637820236e-05,1.04003232523,0.58878484259,0.00876250590983,1.0397004571
+219,3.650000000,pose1_to_pose2_press,0.618260148694,9.07108903951e-05,1.04003226123,0.588830601065,0.00876245636563,1.03970039005
+220,3.666666667,pose1_to_pose2_press,0.618296926008,9.08423083075e-05,1.0400322519,0.588867376238,0.00876258127029,1.03970038345
+221,3.683333333,pose1_to_pose2_press,0.618326477614,9.0851682747e-05,1.04003220672,0.588896928588,0.00876259338662,1.03970034829
+222,3.700000000,pose1_to_pose2_press,0.618349166125,9.08908100367e-05,1.0400323236,0.588919617159,0.00876263209858,1.03970045733
+223,3.716666667,pose1_to_pose2_press,0.618367041112,9.08221971286e-05,1.04003229761,0.588937492215,0.0087625636068,1.03970043153
+224,3.733333333,pose1_to_pose2_press,0.618380459522,9.07494614401e-05,1.04003225863,0.588950910672,0.00876249110477,1.03970039454
+225,3.750000000,pose1_to_pose2_press,0.618390579925,9.07830573356e-05,1.04003237045,0.588961030969,0.0087625240881,1.03970050041
+226,3.766666667,pose1_to_pose2_press,0.618397721476,9.07801670128e-05,1.04003230817,0.588968172513,0.00876252123545,1.03970043765
+227,3.783333333,pose1_to_pose2_press,0.618402260791,9.0780014723e-05,1.0400322897,0.58897271163,0.00876252048831,1.03970042002
+228,3.800000000,pose1_to_pose2_press,0.618405366409,9.07933925038e-05,1.04003238762,0.588975816467,0.00876253133434,1.03970052106
+229,3.816666667,pose1_to_pose2_press,0.618407452456,9.08023783729e-05,1.04003245339,0.588977901989,0.00876253861963,1.03970058892
+230,3.833333333,pose1_to_pose2_press,0.618409099728,9.08546325954e-05,1.0400324725,0.588979549027,0.00876259004486,1.03970060613
+231,3.850000000,pose1_to_pose2_press,0.618410379649,9.09060559785e-05,1.04003247948,0.588980828809,0.00876264094727,1.03970061077
+232,3.866666667,pose1_to_pose2_press,0.618411130084,9.09362062184e-05,1.04003248357,0.588981579164,0.00876267079205,1.0397006135
+233,3.883333333,pose1_to_pose2_press,0.61841165015,9.09426267457e-05,1.04003248544,0.588982099318,0.00876267749759,1.03970061469
+234,3.900000000,pose1_to_pose2_press,0.61841216336,9.08739901507e-05,1.04003248228,0.588982613358,0.00876261171501,1.03970061224
+235,3.916666667,pose1_to_pose2_press,0.618412648102,9.08091608626e-05,1.0400324793,0.588983098885,0.00876254958143,1.03970060993
+236,3.933333333,pose1_to_pose2_press,0.618413161184,9.0740541328e-05,1.04003247614,0.588983612798,0.0087624838152,1.03970060748
+237,3.950000000,pose1_to_pose2_press,0.618413613345,9.06857753242e-05,1.04003246875,0.588984065634,0.00876243137145,1.0397006009
+238,3.966666667,pose1_to_pose2_press,0.618413831298,9.07070617441e-05,1.04003242669,0.588984283428,0.00876245217054,1.0397005608
+239,3.983333333,pose1_to_pose2_press,0.618413943378,9.07180079829e-05,1.04003240506,0.588984395426,0.00876246286618,1.03970054017
+240,4.000000000,pose1_to_pose2_press,0.618413970994,9.07207050968e-05,1.04003239973,0.588984423022,0.00876246550155,1.03970053509
+241,4.016666667,pose1_to_pose2_press,0.618414171683,9.07403054163e-05,1.040032361,0.588984623565,0.00876248465314,1.03970049816
+242,4.033333333,pose1_to_pose2_press,0.618414194226,9.07425070691e-05,1.04003235665,0.588984646091,0.00876248680438,1.03970049401
+243,4.050000000,pose1_to_pose2_press,0.618414293931,9.07522447658e-05,1.04003233741,0.588984745724,0.00876249631915,1.03970047567
+244,4.066666667,pose1_to_pose2_press,0.618414343169,9.07529178438e-05,1.04003232123,0.588984795017,0.0087624971719,1.03970045915
+245,4.083333333,pose1_to_pose2_press,0.618414415093,9.07522799401e-05,1.04003229499,0.588984867059,0.00876249691003,1.03970043209
+246,4.100000000,pose1_to_pose2_press,0.618414452358,9.07519494335e-05,1.04003228139,0.588984904385,0.00876249677435,1.03970041807
+247,4.116666667,pose1_to_pose2_press,0.618414455607,9.07519206199e-05,1.0400322802,0.588984907639,0.00876249676252,1.03970041685
+248,4.133333333,pose1_to_pose2_press,0.618414498036,9.07515443162e-05,1.04003226472,0.588984950137,0.00876249660805,1.03970040089
+249,4.150000000,pose1_to_pose2_press,0.618414576748,9.07508462079e-05,1.040032236,0.588985028978,0.00876249632147,1.03970037128
+250,4.166666667,pose1_to_pose2_press,0.618414695294,9.06867681863e-05,1.04003231899,0.588985147567,0.00876243238804,1.03970045384
+251,4.183333333,pose1_to_pose2_press,0.618414721031,9.06691735315e-05,1.04003234438,0.588985173306,0.00876241479529,1.03970047921
+252,4.200000000,pose2_hold,0.618414721031,9.06691735315e-05,1.04003234438,0.588985173308,0.00876241479393,1.03970047921
+253,4.216666667,pose2_hold,0.618414721031,9.06691735315e-05,1.04003234438,0.588985173308,0.00876241479385,1.03970047921
+254,4.233333333,pose2_hold,0.618414721031,9.06691735315e-05,1.04003234438,0.588985173308,0.00876241479379,1.03970047921
+255,4.250000000,pose2_hold,0.618414721031,9.06691735315e-05,1.04003234438,0.588985173308,0.00876241479374,1.03970047921
+256,4.266666667,pose2_hold,0.618414721031,9.06691735315e-05,1.04003234438,0.588985173308,0.00876241479383,1.03970047921
+257,4.283333333,pose2_hold,0.618414721031,9.06691735315e-05,1.04003234438,0.588985173308,0.0087624147936,1.03970047921
+258,4.300000000,pose2_hold,0.618414721031,9.06691735315e-05,1.04003234438,0.588985173308,0.00876241479338,1.03970047921
+259,4.316666667,pose2_hold,0.618414721031,9.06691735315e-05,1.04003234438,0.588985173308,0.00876241479367,1.03970047921
+260,4.333333333,pose2_hold,0.618414721031,9.06691735315e-05,1.04003234438,0.588985173308,0.00876241479328,1.03970047921
+261,4.350000000,pose2_hold,0.618414721031,9.06691735315e-05,1.04003234438,0.588985173308,0.00876241479331,1.03970047921
+262,4.366666667,pose2_hold,0.618414721031,9.06691735315e-05,1.04003234438,0.588985173308,0.00876241479346,1.03970047921
+263,4.383333333,pose2_hold,0.618414721031,9.06691735315e-05,1.04003234438,0.588985173308,0.00876241479316,1.03970047921
+264,4.400000000,pose2_hold,0.618414721031,9.06691735315e-05,1.04003234438,0.588985173308,0.00876241479335,1.03970047921
+265,4.416666667,pose2_hold,0.618414721031,9.06691735315e-05,1.04003234438,0.588985173308,0.00876241479329,1.03970047921
+266,4.433333333,pose2_hold,0.618414721031,9.06691735315e-05,1.04003234438,0.588985173308,0.00876241479352,1.03970047921
+267,4.450000000,pose2_hold,0.618414721031,9.06691735315e-05,1.04003234438,0.588985173308,0.00876241479302,1.03970047921
+268,4.466666667,pose2_to_pose3_retreat,0.618414721031,9.06691735315e-05,1.04003234438,0.588985173308,0.00876241479299,1.03970047921
+269,4.483333333,pose2_to_pose3_retreat,0.618414667459,9.06852258348e-05,1.04003234395,0.588985119851,0.00876243126158,1.03970047939
+270,4.500000000,pose2_to_pose3_retreat,0.618414588477,9.07088917025e-05,1.0400323433,0.58898504104,0.00876245554117,1.03970047966
+271,4.516666667,pose2_to_pose3_retreat,0.618414456309,9.07436492833e-05,1.04003235065,0.588984908616,0.00876248939483,1.0397004861
+272,4.533333333,pose2_to_pose3_retreat,0.618414387949,9.07581690687e-05,1.04003236047,0.588984839738,0.00876250206915,1.0397004937
+273,4.550000000,pose2_to_pose3_retreat,0.61841434456,9.07673847885e-05,1.0400323667,0.588984796022,0.00876251011355,1.03970049853
+274,4.566666667,pose2_to_pose3_retreat,0.618414329915,9.07704955437e-05,1.0400323688,0.588984781265,0.00876251282893,1.03970050015
+275,4.583333333,pose2_to_pose3_retreat,0.618414004538,9.08179291067e-05,1.04003238155,0.588984454865,0.00876255667793,1.03970051017
+276,4.600000000,pose2_to_pose3_retreat,0.618412447445,9.08907739e-05,1.0400324438,0.588982897287,0.00876262800004,1.03970057486
+277,4.616666667,pose2_to_pose3_retreat,0.618407861079,9.06907309743e-05,1.04003248506,0.588978312934,0.00876243484341,1.03970061721
+278,4.633333333,pose2_to_pose3_retreat,0.618398942806,9.0731731197e-05,1.04003236181,0.588969394492,0.0087624749739,1.03970048758
+279,4.650000000,pose2_to_pose3_retreat,0.61838127549,9.06598492783e-05,1.04003253929,0.58895172619,0.00876239984759,1.03970066909
+280,4.666666667,pose2_to_pose3_retreat,0.61835398034,9.08512929194e-05,1.04003219278,0.588924430984,0.0087625911355,1.03970032279
+281,4.683333333,pose2_to_pose3_retreat,0.618315633743,9.06951496736e-05,1.04003223653,0.58888608666,0.00876244292293,1.03970037069
+282,4.700000000,pose2_to_pose3_retreat,0.618267398225,9.072797936e-05,1.04003223336,0.588837849031,0.00876246878922,1.03970036777
+283,4.716666667,pose2_to_pose3_retreat,0.618209337636,9.08053043571e-05,1.04003196241,0.588779788954,0.00876254822048,1.03970010856
+284,4.733333333,pose2_to_pose3_retreat,0.618143339303,9.07316369691e-05,1.04003221528,0.588713790875,0.00876247480545,1.03970035378
+285,4.750000000,pose2_to_pose3_retreat,0.618069136855,9.07355955716e-05,1.04003222332,0.588639588281,0.00876247812333,1.03970036037
+286,4.766666667,pose2_to_pose3_retreat,0.617985336035,9.07397721e-05,1.04003233108,0.588555787742,0.008762483061,1.03970046439
+287,4.783333333,pose2_to_pose3_retreat,0.61789100381,9.07597178328e-05,1.04003234849,0.588461454217,0.00876249852847,1.03970048242
+288,4.800000000,pose2_to_pose3_retreat,0.617783756705,9.07761081575e-05,1.04003222482,0.588354207118,0.00876251490514,1.03970036003
+289,4.816666667,pose2_to_pose3_retreat,0.617663147955,9.07775506283e-05,1.04003214651,0.588233598826,0.00876251781264,1.03970028188
+290,4.833333333,pose2_to_pose3_retreat,0.617527813346,9.07704267502e-05,1.04003223414,0.58809826353,0.00876250816447,1.03970036781
+291,4.850000000,pose2_to_pose3_retreat,0.617376206797,9.07778890807e-05,1.0400322869,0.587946657574,0.00876251732269,1.03970041431
+292,4.866666667,pose2_to_pose3_retreat,0.61720721314,9.08636766768e-05,1.04003250089,0.587777663621,0.00876260192994,1.03970062696
+293,4.883333333,pose2_to_pose3_retreat,0.617017621192,9.07345857899e-05,1.04003236937,0.587588073595,0.00876247955414,1.03970050403
+294,4.900000000,pose2_to_pose3_retreat,0.616809257436,9.0653430014e-05,1.04003217773,0.587379711117,0.00876240254832,1.03970031274
+295,4.916666667,pose2_to_pose3_retreat,0.616581811186,9.06833528644e-05,1.04003218805,0.587152263775,0.00876242859266,1.03970032167
+296,4.933333333,pose2_to_pose3_retreat,0.61633566649,9.06942778648e-05,1.04003224682,0.586906119071,0.00876243926951,1.03970037841
+297,4.950000000,pose2_to_pose3_retreat,0.616070758341,9.0714169572e-05,1.04003230358,0.586641211082,0.00876245936244,1.03970043205
+298,4.966666667,pose2_to_pose3_retreat,0.61578855599,9.07613455458e-05,1.04003238983,0.586359007523,0.00876250217546,1.03970051691
+299,4.983333333,pose2_to_pose3_retreat,0.615489761896,9.06328016806e-05,1.04003234925,0.586060215037,0.00876237915113,1.03970048173
+300,5.000000000,pose2_to_pose3_retreat,0.615173953733,9.07238474645e-05,1.04003210578,0.585744405185,0.00876246450876,1.03970024549
+301,5.016666667,pose2_to_pose3_retreat,0.614840388625,9.07750650535e-05,1.04003210682,0.585410839477,0.00876251339526,1.03970024359
+302,5.033333333,pose2_to_pose3_retreat,0.614486024258,9.08487430882e-05,1.04003244804,0.585056474471,0.00876258433704,1.03970057586
+303,5.050000000,pose2_to_pose3_retreat,0.614107281384,9.09109597113e-05,1.0400324387,0.584677730906,0.00876264413719,1.03970057057
+304,5.066666667,pose2_to_pose3_retreat,0.613702439717,9.08891604501e-05,1.04003222015,0.584272889643,0.00876262369108,1.0397003575
+305,5.083333333,pose2_to_pose3_retreat,0.613269156628,9.08117822039e-05,1.04003226992,0.583839607967,0.00876255066417,1.03970040137
+306,5.100000000,pose2_to_pose3_retreat,0.612814412314,9.08769293058e-05,1.04003234559,0.583384863093,0.00876261398643,1.03970048245
+307,5.116666667,pose2_to_pose3_retreat,0.612346239153,9.09982208928e-05,1.04003239261,0.582916688951,0.00876273148811,1.03970051984
+308,5.133333333,pose2_to_pose3_retreat,0.61186696319,9.08035576835e-05,1.04003247052,0.582437415763,0.00876254645363,1.03970060347
+309,5.150000000,pose2_to_pose3_retreat,0.611376036166,9.08175021432e-05,1.04003225174,0.58194648812,0.00876255827359,1.03970038302
+310,5.166666667,pose2_to_pose3_retreat,0.610863317279,9.07984446042e-05,1.04003225317,0.581433768679,0.00876253732579,1.03970038386
+311,5.183333333,pose2_to_pose3_retreat,0.610322928371,9.07371807972e-05,1.04003225845,0.580893379643,0.00876247567439,1.0397003906
+312,5.200000000,pose2_to_pose3_retreat,0.609743700602,9.07044977923e-05,1.04003214926,0.580314152048,0.00876244361604,1.03970028241
+313,5.216666667,pose2_to_pose3_retreat,0.60913356088,9.07357003326e-05,1.04003223955,0.579704013233,0.00876247792696,1.03970037374
+314,5.233333333,pose2_to_pose3_retreat,0.60849810964,9.08269646257e-05,1.04003220959,0.579068561871,0.0087625690271,1.03970035073
+315,5.250000000,pose2_to_pose3_retreat,0.607849231512,9.08015500129e-05,1.04003223733,0.578419682086,0.00876253770268,1.03970037163
+316,5.266666667,pose2_to_pose3_retreat,0.607189599649,9.0904466038e-05,1.04003234626,0.577760050834,0.00876264280304,1.03970048137
+317,5.283333333,pose2_to_pose3_retreat,0.606515213829,9.08656851902e-05,1.04003234431,0.577085665155,0.00876260461053,1.03970048194
+318,5.300000000,pose2_to_pose3_retreat,0.60582653619,9.07440155316e-05,1.04003216501,0.576396988321,0.00876248565565,1.03970030305
+319,5.316666667,pose2_to_pose3_retreat,0.605126565816,9.07685927043e-05,1.04003221173,0.575697017732,0.00876250913457,1.03970034126
+320,5.333333333,pose2_to_pose3_retreat,0.604417055285,9.07896079959e-05,1.04003239102,0.574987507139,0.00876252982056,1.03970051811
+321,5.350000000,pose2_to_pose3_retreat,0.603698122478,9.07692454584e-05,1.04003244311,0.574268574684,0.00876251081001,1.03970057427
+322,5.366666667,pose2_to_pose3_retreat,0.602968266529,9.07382363243e-05,1.04003224215,0.573538719236,0.00876248176934,1.03970037933
+323,5.383333333,pose2_to_pose3_retreat,0.602223292886,9.06936293721e-05,1.04003204058,0.572793746137,0.00876243933358,1.03970018473
+324,5.400000000,pose2_to_pose3_retreat,0.601466160321,9.08170928102e-05,1.04003244947,0.572036612213,0.00876255771808,1.03970058228
+325,5.416666667,pose2_to_pose3_retreat,0.600696577606,9.08125118717e-05,1.04003210748,0.571267028427,0.00876254968962,1.03970024423
+326,5.433333333,pose2_to_pose3_retreat,0.599912848205,9.07618062034e-05,1.04003224138,0.570483300289,0.00876250304738,1.03970037187
+327,5.450000000,pose2_to_pose3_retreat,0.599135999141,9.05979995867e-05,1.04003236752,0.569706452467,0.00876234317771,1.03970049312
+328,5.466666667,pose2_to_pose3_retreat,0.59837141855,9.06171830519e-05,1.0400322945,0.568941871312,0.00876236058193,1.03970042296
+329,5.483333333,pose2_to_pose3_retreat,0.597609673644,9.07029431188e-05,1.04003231262,0.568180126948,0.00876244837413,1.03970044551
+330,5.500000000,pose2_to_pose3_retreat,0.596851344315,9.07883124182e-05,1.04003230599,0.567421797469,0.00876253332033,1.03970044104
+331,5.516666667,pose2_to_pose3_retreat,0.596094226248,9.08536994253e-05,1.04003223879,0.566664677801,0.00876259321167,1.03970037222
+332,5.533333333,pose2_to_pose3_retreat,0.595332999758,9.08608288365e-05,1.04003224935,0.56590345066,0.00876259799296,1.03970037907
+333,5.550000000,pose2_to_pose3_retreat,0.594565522274,9.07493274703e-05,1.04003227348,0.565135975121,0.0087624931239,1.03970040398
+334,5.566666667,pose2_to_pose3_retreat,0.59379780618,9.07570149902e-05,1.04003247409,0.564368257637,0.0087624961128,1.03970060648
+335,5.583333333,pose2_to_pose3_retreat,0.593031891077,9.07724578154e-05,1.04003214046,0.563602343155,0.00876251408773,1.03970028153
+336,5.600000000,pose2_to_pose3_retreat,0.5922654787,9.06763371859e-05,1.04003231314,0.562835931614,0.00876242053411,1.0397004466
+337,5.616666667,pose2_to_pose3_retreat,0.591504473882,9.06500038595e-05,1.04003237118,0.562074926725,0.0087623939423,1.03970050398
+338,5.633333333,pose2_to_pose3_retreat,0.590762040136,9.06275814274e-05,1.04003247354,0.561332492571,0.00876236982834,1.03970059816
+339,5.650000000,pose2_to_pose3_retreat,0.590035983689,9.07265325835e-05,1.04003257558,0.560606434982,0.0087624649062,1.03970070026
+340,5.666666667,pose2_to_pose3_retreat,0.589327300259,9.08274857478e-05,1.04003256218,0.559897750938,0.00876256405678,1.03970069422
+341,5.683333333,pose2_to_pose3_retreat,0.588638707888,9.07793309735e-05,1.04003239954,0.559209159223,0.00876251818703,1.03970053296
+342,5.700000000,pose2_to_pose3_retreat,0.5879624498,9.08184152975e-05,1.04003211754,0.558532900526,0.00876255543519,1.03970025722
+343,5.716666667,pose2_to_pose3_retreat,0.587288024066,9.08410908943e-05,1.04003234818,0.557858475576,0.0087625805046,1.03970048292
+344,5.733333333,pose2_to_pose3_retreat,0.58662051814,9.06659852222e-05,1.04003205721,0.557190970554,0.00876240829808,1.03970018745
+345,5.750000000,pose2_to_pose3_retreat,0.585968250801,9.06533497962e-05,1.04003219121,0.556538704612,0.00876240052219,1.03970032479
+346,5.766666667,pose2_to_pose3_retreat,0.585336614613,9.07027739426e-05,1.04003223305,0.555907067867,0.00876244815755,1.03970036759
+347,5.783333333,pose2_to_pose3_retreat,0.584725862553,9.08043376971e-05,1.04003224727,0.555296314658,0.00876254574369,1.03970037912
+348,5.800000000,pose2_to_pose3_retreat,0.584139866236,9.08096444191e-05,1.04003226111,0.55471031786,0.00876254932382,1.03970039048
+349,5.816666667,pose2_to_pose3_retreat,0.583574269298,9.07750353209e-05,1.04003233326,0.554144720503,0.00876251332003,1.03970046333
+350,5.833333333,pose2_to_pose3_retreat,0.583027791012,9.08351085889e-05,1.04003244146,0.553598241116,0.00876256977899,1.03970057496
+351,5.850000000,pose2_to_pose3_retreat,0.582502921629,9.08564640305e-05,1.04003234429,0.553073371181,0.00876258933786,1.03970048002
+352,5.866666667,pose2_to_pose3_retreat,0.582001836495,9.08966861226e-05,1.04003238033,0.552572286231,0.00876262998945,1.03970051089
+353,5.883333333,pose2_to_pose3_retreat,0.581517323603,9.07537399045e-05,1.04003227134,0.55208777546,0.00876249431672,1.03970040375
+354,5.900000000,pose2_to_pose3_retreat,0.581047475646,9.07591938379e-05,1.04003226204,0.551617926691,0.00876249688225,1.03970039094
+355,5.916666667,pose2_to_pose3_retreat,0.580591824913,9.07198867807e-05,1.04003220235,0.551162275963,0.00876245732188,1.03970032493
+356,5.933333333,pose2_to_pose3_retreat,0.580153112523,9.07226788743e-05,1.0400323103,0.550723563701,0.00876246042085,1.0397004297
+357,5.950000000,pose2_to_pose3_retreat,0.579737595924,9.08307637369e-05,1.04003246824,0.550308046837,0.00876256771796,1.0397005903
+358,5.966666667,pose2_to_pose3_retreat,0.579352294487,9.08432051238e-05,1.04003240608,0.549922745732,0.00876258157775,1.0397005354
+359,5.983333333,pose2_to_pose3_retreat,0.579000687345,9.07250830462e-05,1.04003223771,0.549571139599,0.00876246706049,1.03970037162
+360,6.000000000,pose2_to_pose3_retreat,0.578677382631,9.07412773443e-05,1.04003226565,0.549247834881,0.00876248304469,1.03970039452
+361,6.016666667,pose2_to_pose3_retreat,0.578377615244,9.0835998585e-05,1.04003226949,0.548948063865,0.00876256541289,1.03970039737
+362,6.033333333,pose2_to_pose3_retreat,0.578094872568,9.08179193134e-05,1.04003224607,0.548665323353,0.00876255487098,1.03970037901
+363,6.050000000,pose2_to_pose3_retreat,0.577824175853,9.07259320312e-05,1.04003225304,0.548394627703,0.00876246643241,1.03970038437
+364,6.066666667,pose2_to_pose3_retreat,0.577564033248,9.06639946864e-05,1.04003231277,0.548134486136,0.00876240805907,1.03970044526
+365,6.083333333,pose2_to_pose3_retreat,0.577318691027,9.07979755434e-05,1.04003228677,0.54788914241,0.00876253700251,1.03970042106
+366,6.100000000,pose2_to_pose3_retreat,0.577090347736,9.07692126584e-05,1.04003222294,0.547660799361,0.0087625091554,1.03970035972
+367,6.116666667,pose2_to_pose3_retreat,0.576885345321,9.07061831278e-05,1.04003227389,0.547455797104,0.00876244667613,1.03970041107
+368,6.133333333,pose2_to_pose3_retreat,0.576702828495,9.07771821217e-05,1.04003230979,0.547273278781,0.00876251245794,1.03970044348
+369,6.150000000,pose2_to_pose3_retreat,0.576544133344,9.06753317939e-05,1.04003223105,0.547114585623,0.00876241737764,1.03970036504
+370,6.166666667,pose2_to_pose3_retreat,0.576405750907,9.06951390129e-05,1.04003226116,0.546976203791,0.00876243939053,1.03970039895
+371,6.183333333,pose2_to_pose3_retreat,0.576287360944,9.08593631591e-05,1.04003248747,0.546857811856,0.00876259667364,1.03970061904
+372,6.200000000,pose2_to_pose3_retreat,0.576182905273,9.08193291416e-05,1.04003228084,0.546753357493,0.00876256112748,1.03970041357
+373,6.216666667,pose2_to_pose3_retreat,0.576091574075,9.08146943813e-05,1.04003220449,0.546662026062,0.00876255598742,1.03970034535
+374,6.233333333,pose2_to_pose3_retreat,0.576011850346,9.08238914246e-05,1.04003220205,0.546582301156,0.00876256119846,1.03970034329
+375,6.250000000,pose2_to_pose3_retreat,0.575942097716,9.07783774465e-05,1.04003223181,0.546512548576,0.00876251560392,1.03970036645
+376,6.266666667,pose2_to_pose3_retreat,0.575882153296,9.07226137471e-05,1.04003221502,0.54645260489,0.00876246217267,1.03970034536
+377,6.283333333,pose2_to_pose3_retreat,0.575831777697,9.07447137221e-05,1.04003216596,0.546402228546,0.00876248191305,1.03970030071
+378,6.300000000,pose2_to_pose3_retreat,0.575791205071,9.06422687928e-05,1.04003246846,0.546361657528,0.00876238496524,1.03970060423
+379,6.316666667,pose2_to_pose3_retreat,0.57575864808,9.06518954659e-05,1.04003236978,0.546329102521,0.00876240127282,1.03970050417
+380,6.333333333,pose2_to_pose3_retreat,0.575733104353,9.07064215836e-05,1.04003219204,0.546303557368,0.0087624509477,1.03970032628
+381,6.350000000,pose2_to_pose3_retreat,0.575713757176,9.07478393621e-05,1.04003215153,0.546284209151,0.00876248900984,1.03970029032
+382,6.366666667,pose2_to_pose3_retreat,0.575698933968,9.07463777085e-05,1.04003219779,0.546269386237,0.00876248870231,1.03970034077
+383,6.383333333,pose2_to_pose3_retreat,0.575688105273,9.06822038979e-05,1.04003221466,0.54625855915,0.00876242986456,1.03970035459
+384,6.400000000,pose2_to_pose3_retreat,0.575680483798,9.07088322005e-05,1.04003222211,0.54625093756,0.00876245606157,1.03970036081
+385,6.416666667,pose2_to_pose3_retreat,0.575675547632,9.0730278271e-05,1.0400321958,0.546246001053,0.00876247636256,1.03970033471
+386,6.433333333,pose2_to_pose3_retreat,0.575672515023,9.07392258193e-05,1.04003213008,0.546242967996,0.00876248385156,1.03970027061
+387,6.450000000,pose2_to_pose3_retreat,0.575670628492,9.074479193e-05,1.0400320892,0.546241081186,0.00876248851034,1.03970023073
+388,6.466666667,pose2_to_pose3_retreat,0.57566938279,9.07236966067e-05,1.04003208123,0.546239835331,0.00876246694171,1.03970022398
+389,6.483333333,pose2_to_pose3_retreat,0.575668578239,9.07087294422e-05,1.04003207712,0.546239030683,0.00876245167566,1.03970022068
+390,6.500000000,pose2_to_pose3_retreat,0.57566816101,9.07009676712e-05,1.04003207499,0.546238613404,0.0087624437589,1.03970021897
+391,6.516666667,pose2_to_pose3_retreat,0.575667798244,9.06942190748e-05,1.04003207313,0.546238250593,0.00876243687554,1.03970021748
+392,6.533333333,pose2_to_pose3_retreat,0.575667519727,9.06890377833e-05,1.04003207171,0.546237972043,0.00876243159078,1.03970021633
+393,6.550000000,pose2_to_pose3_retreat,0.575667376784,9.06863785942e-05,1.04003207097,0.546237829082,0.00876242887849,1.03970021575
+394,6.566666667,pose2_to_pose3_retreat,0.57566728983,9.06847609761e-05,1.04003207053,0.546237742118,0.00876242722857,1.03970021539
+395,6.583333333,pose2_to_pose3_retreat,0.575667192563,9.06829515113e-05,1.04003207003,0.546237644839,0.00876242538298,1.03970021499
+396,6.600000000,pose2_to_pose3_retreat,0.575667178579,9.0682691372e-05,1.04003206996,0.546237630854,0.00876242511764,1.03970021493
+397,6.616666667,pose2_to_pose3_retreat,0.57566699348,9.06792479415e-05,1.04003206901,0.546237445732,0.00876242160545,1.03970021417
+398,6.633333333,pose2_to_pose3_retreat,0.575666630432,9.06883322117e-05,1.04003211358,0.546237082614,0.00876243036943,1.03970025657
+399,6.650000000,pose2_to_pose3_retreat,0.575666245825,9.07069794787e-05,1.04003218724,0.546236697918,0.00876244857175,1.03970032649
+400,6.666666667,pose2_to_pose3_retreat,0.575666171035,9.07106055694e-05,1.04003220156,0.546236623111,0.00876245211132,1.03970034008
+401,6.683333333,pose2_to_pose3_retreat,0.575666136771,9.07122668621e-05,1.04003220813,0.546236588838,0.00876245373297,1.03970034631
+402,6.700000000,pose2_to_pose3_retreat,0.575666070887,9.07154611417e-05,1.04003222075,0.54623652294,0.00876245685103,1.03970035829
+403,6.716666667,pose2_to_pose3_retreat,0.575665835244,9.0726886063e-05,1.04003226588,0.546236287242,0.00876246800334,1.03970040112
+404,6.733333333,pose2_to_pose3_retreat,0.575665423679,9.07468403396e-05,1.0400323447,0.546235875582,0.00876248748148,1.03970047594
+405,6.750000000,pose2_to_pose3_retreat,0.575665312666,9.07522227326e-05,1.04003236596,0.546235764543,0.00876249273544,1.03970049612
+406,6.766666667,pose2_to_pose3_retreat,0.575665211151,9.07596631993e-05,1.04003236692,0.546235662908,0.00876249975692,1.03970049674
+407,6.783333333,pose2_to_pose3_retreat,0.575664927858,9.07882142674e-05,1.04003231243,0.546235378983,0.00876252620639,1.03970044333
+408,6.800000000,pose2_to_pose3_retreat,0.575664807658,9.08003282964e-05,1.0400322893,0.546235258516,0.00876253742873,1.03970042067
+409,6.816666667,pose2_to_pose3_retreat,0.575664706313,9.08105421269e-05,1.04003226981,0.546235156945,0.00876254689073,1.03970040156
+410,6.833333333,pose2_to_pose3_retreat,0.575664535408,9.08233813114e-05,1.04003224574,0.546234985802,0.008762558944,1.03970037804
+411,6.850000000,pose2_to_pose3_retreat,0.575664413793,9.07841078755e-05,1.04003232575,0.546234865597,0.00876252443169,1.03970045744
+412,6.866666667,pose2_to_pose3_retreat,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787087,0.00876252613229,1.03970050298

Part2/Obstacle_avoidance/cylinder_0050_17.5/position_02/depth_03/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:579e9a4fd4e33b00cd3693544a8ce0e138a18bd982871c8960eedf1b9c5f8099
+size 26379037

Part2/Obstacle_avoidance/cylinder_0050_17.5/position_02/depth_03/simulation_data.csv

@@ -0,0 +1,416 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+1,0.016666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+2,0.033333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+3,0.050000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+4,0.066666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+5,0.083333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+6,0.100000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+7,0.116666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+8,0.133333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+9,0.150000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+10,0.166666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+11,0.183333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+12,0.200000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+13,0.216666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+14,0.233333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+15,0.250000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+16,0.266666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+17,0.283333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+18,0.300000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+19,0.316666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+20,0.333333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+21,0.350000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+22,0.366666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+23,0.383333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+24,0.400000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+25,0.416666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+26,0.433333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+27,0.450000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+28,0.466666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+29,0.483333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+30,0.500000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+31,0.516666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+32,0.533333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+33,0.550000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+34,0.566666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+35,0.583333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+36,0.600000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+37,0.616666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+38,0.633333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+39,0.650000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+40,0.666666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+41,0.683333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+42,0.700000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+43,0.716666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+44,0.733333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+45,0.750000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+46,0.766666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+47,0.783333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+48,0.800000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+49,0.816666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+50,0.833333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+51,0.850000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+52,0.866666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+53,0.883333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+54,0.900000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+55,0.916666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+56,0.933333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+57,0.950000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+58,0.966666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+59,0.983333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+60,1.000000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+61,1.016666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+62,1.033333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+63,1.050000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+64,1.066666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+65,1.083333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+66,1.100000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+67,1.116666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+68,1.133333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+69,1.150000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+70,1.166666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+71,1.183333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+72,1.200000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+73,1.216666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+74,1.233333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+75,1.250000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+76,1.266666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+77,1.283333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+78,1.300000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+79,1.316666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+80,1.333333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+81,1.350000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+82,1.366666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+83,1.383333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+84,1.400000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+85,1.416666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+86,1.433333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+87,1.450000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+88,1.466666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+89,1.483333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+90,1.500000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+91,1.516666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+92,1.533333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+93,1.550000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+94,1.566666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+95,1.583333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+96,1.600000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+97,1.616666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+98,1.633333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+99,1.650000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+100,1.666666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+101,1.683333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+102,1.700000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+103,1.716666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+104,1.733333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+105,1.750000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+106,1.766666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+107,1.783333333,pose1_to_pose2_press,0.57566436402,9.07680344871e-05,1.0400323585,0.546234816401,0.00876251030681,1.03970048994
+108,1.800000000,pose1_to_pose2_press,0.575664376548,9.07761127396e-05,1.0400323298,0.546234828589,0.00876251727003,1.03970046232
+109,1.816666667,pose1_to_pose2_press,0.575664389311,9.07843418762e-05,1.04003230057,0.546234841005,0.00876252436331,1.03970043418
+110,1.833333333,pose1_to_pose2_press,0.575664404979,9.07944443821e-05,1.04003226468,0.546234856247,0.00876253307138,1.03970039963
+111,1.850000000,pose1_to_pose2_press,0.575664497638,9.08159628955e-05,1.04003222519,0.54623494828,0.00876255247782,1.03970036047
+112,1.866666667,pose1_to_pose2_press,0.575664666907,9.08354841106e-05,1.04003224246,0.546235117385,0.00876257131633,1.03970037441
+113,1.883333333,pose1_to_pose2_press,0.575665008603,9.08748906084e-05,1.04003227734,0.54623545875,0.00876260934469,1.03970040255
+114,1.900000000,pose1_to_pose2_press,0.575666354904,9.08287625296e-05,1.04003243511,0.546236805804,0.00876256533889,1.03970054901
+115,1.916666667,pose1_to_pose2_press,0.57567044129,9.09167475585e-05,1.04003221283,0.546240891017,0.0087626503234,1.03970035241
+116,1.933333333,pose1_to_pose2_press,0.57568072247,9.0741726833e-05,1.04003211273,0.546251177137,0.00876249208211,1.03970025263
+117,1.950000000,pose1_to_pose2_press,0.575698801709,9.07407703453e-05,1.0400322209,0.546269255548,0.00876248824277,1.03970035887
+118,1.966666667,pose1_to_pose2_press,0.575728314393,9.06027027557e-05,1.04003224456,0.546298768643,0.00876235133155,1.03970037621
+119,1.983333333,pose1_to_pose2_press,0.575768780609,9.07759348933e-05,1.04003223824,0.546339233298,0.00876251997642,1.03970038833
+120,2.000000000,pose1_to_pose2_press,0.575819207896,9.07686048687e-05,1.04003191319,0.546389658989,0.00876250695277,1.03970005598
+121,2.016666667,pose1_to_pose2_press,0.575877518924,9.07148288395e-05,1.04003216917,0.546447971623,0.00876245825111,1.03970030202
+122,2.033333333,pose1_to_pose2_press,0.575943872585,9.07714720759e-05,1.04003236493,0.546514325875,0.00876251681113,1.03970049546
+123,2.050000000,pose1_to_pose2_press,0.576016729636,9.07889368464e-05,1.04003245844,0.546587182328,0.00876253215519,1.03970058649
+124,2.066666667,pose1_to_pose2_press,0.576096816101,9.07092923789e-05,1.04003235972,0.546667268995,0.00876245310324,1.03970048525
+125,2.083333333,pose1_to_pose2_press,0.576189021811,9.0616152913e-05,1.04003231639,0.546759474796,0.00876236032381,1.03970044323
+126,2.100000000,pose1_to_pose2_press,0.576293046054,9.07540105636e-05,1.04003246227,0.546863498478,0.00876249673136,1.03970060097
+127,2.116666667,pose1_to_pose2_press,0.576410356766,9.08565576916e-05,1.04003249453,0.546980807727,0.00876259403851,1.03970062599
+128,2.133333333,pose1_to_pose2_press,0.576541820781,9.07412723253e-05,1.04003217247,0.547112271476,0.0087624778473,1.03970030376
+129,2.150000000,pose1_to_pose2_press,0.576689752435,9.07648704041e-05,1.04003220977,0.547260203136,0.00876250146062,1.03970034092
+130,2.166666667,pose1_to_pose2_press,0.576854526775,9.08303822835e-05,1.04003236111,0.5474249771,0.00876256540218,1.03970048449
+131,2.183333333,pose1_to_pose2_press,0.577036693341,9.08530920673e-05,1.04003225484,0.547607143864,0.00876258887299,1.03970038054
+132,2.200000000,pose1_to_pose2_press,0.577240201488,9.08314280183e-05,1.04003216348,0.547810653186,0.0087625716024,1.03970029967
+133,2.216666667,pose1_to_pose2_press,0.577463661183,9.07756066688e-05,1.04003219873,0.548034112855,0.00876251593077,1.03970034107
+134,2.233333333,pose1_to_pose2_press,0.577707786516,9.08012963951e-05,1.04003229571,0.548278236065,0.00876253430174,1.03970043504
+135,2.250000000,pose1_to_pose2_press,0.57797364833,9.09181101817e-05,1.04003244087,0.548544097339,0.00876264910087,1.03970057546
+136,2.266666667,pose1_to_pose2_press,0.578262163114,9.08564380351e-05,1.04003227862,0.548832614189,0.00876259457963,1.03970041668
+137,2.283333333,pose1_to_pose2_press,0.578571925425,9.08062429433e-05,1.0400321871,0.549142376078,0.00876254277411,1.03970032039
+138,2.300000000,pose1_to_pose2_press,0.57890011093,9.07695619341e-05,1.04003250147,0.549470563123,0.0087625106936,1.03970061836
+139,2.316666667,pose1_to_pose2_press,0.579242373976,9.08811087355e-05,1.04003209671,0.5498128241,0.00876261603428,1.03970023494
+140,2.333333333,pose1_to_pose2_press,0.579596498136,9.06846385095e-05,1.04003225827,0.55016695178,0.00876243110865,1.03970038593
+141,2.350000000,pose1_to_pose2_press,0.579963472673,9.07913141307e-05,1.04003229186,0.550533924533,0.00876253148992,1.03970041323
+142,2.366666667,pose1_to_pose2_press,0.580349364092,9.07442978422e-05,1.0400322641,0.550919817027,0.008762488399,1.03970039264
+143,2.383333333,pose1_to_pose2_press,0.580757816569,9.06441765524e-05,1.04003209779,0.551328270835,0.00876239301915,1.03970023213
+144,2.400000000,pose1_to_pose2_press,0.581199359538,9.06261079197e-05,1.04003199549,0.55176981349,0.00876237385457,1.039700129
+145,2.416666667,pose1_to_pose2_press,0.581670885325,9.07694663546e-05,1.04003199135,0.552241336458,0.00876250771624,1.03970012663
+146,2.433333333,pose1_to_pose2_press,0.582170446058,9.07911450448e-05,1.04003208348,0.552740897275,0.00876252963243,1.03970021745
+147,2.450000000,pose1_to_pose2_press,0.582688858094,9.0650266132e-05,1.04003231861,0.553259312595,0.00876239946899,1.03970044129
+148,2.466666667,pose1_to_pose2_press,0.583223643603,9.0852421592e-05,1.04003234506,0.553794093914,0.00876258767806,1.0397004749
+149,2.483333333,pose1_to_pose2_press,0.583765869689,9.07178187804e-05,1.04003221387,0.554336321493,0.00876245847309,1.03970035225
+150,2.500000000,pose1_to_pose2_press,0.584317346344,9.06620767966e-05,1.04003221347,0.554887799136,0.00876240602828,1.03970035035
+151,2.516666667,pose1_to_pose2_press,0.584888230364,9.07567014947e-05,1.040031973,0.555458682056,0.00876249714166,1.0397001156
+152,2.533333333,pose1_to_pose2_press,0.585480047872,9.07672506033e-05,1.04003235629,0.556050499027,0.00876250496668,1.03970047527
+153,2.550000000,pose1_to_pose2_press,0.586094810786,9.0743557691e-05,1.04003237702,0.556665261436,0.0087624799721,1.03970050673
+154,2.566666667,pose1_to_pose2_press,0.586728977059,9.06756948639e-05,1.04003228799,0.557299429593,0.00876241861448,1.03970042066
+155,2.583333333,pose1_to_pose2_press,0.587379290545,9.07929309749e-05,1.04003223127,0.557949741657,0.00876253111988,1.03970036638
+156,2.600000000,pose1_to_pose2_press,0.58804430799,9.08252797576e-05,1.04003228457,0.558614759164,0.00876256365339,1.03970041898
+157,2.616666667,pose1_to_pose2_press,0.588722558045,9.0787304085e-05,1.04003233501,0.559293010089,0.00876252868877,1.0397004709
+158,2.633333333,pose1_to_pose2_press,0.589414805299,9.08219073881e-05,1.04003232899,0.559985255508,0.00876255716733,1.03970046763
+159,2.650000000,pose1_to_pose2_press,0.590119419235,9.07927473566e-05,1.04003235529,0.560689868753,0.00876252545898,1.03970048859
+160,2.666666667,pose1_to_pose2_press,0.590833679317,9.07614407028e-05,1.04003231248,0.561404130342,0.00876249945554,1.0397004507
+161,2.683333333,pose1_to_pose2_press,0.591555883946,9.07778433245e-05,1.04003219789,0.562126334547,0.00876251451593,1.03970033861
+162,2.700000000,pose1_to_pose2_press,0.592287122292,9.09119119346e-05,1.04003211378,0.562857570547,0.00876264046415,1.03970025045
+163,2.716666667,pose1_to_pose2_press,0.593032866661,9.09637545299e-05,1.04003245954,0.563603316147,0.00876269634684,1.03970059256
+164,2.733333333,pose1_to_pose2_press,0.593790301091,9.07638877061e-05,1.04003241184,0.56436075259,0.00876250305793,1.03970053834
+165,2.750000000,pose1_to_pose2_press,0.594552380946,9.08281537752e-05,1.04003237094,0.565122831122,0.00876256295381,1.03970050053
+166,2.766666667,pose1_to_pose2_press,0.595317710006,9.07606224523e-05,1.04003246615,0.565888162789,0.00876250423918,1.0397005949
+167,2.783333333,pose1_to_pose2_press,0.596087185197,9.08198028923e-05,1.04003234427,0.566657636897,0.00876255972657,1.03970047274
+168,2.800000000,pose1_to_pose2_press,0.596851288688,9.07708295351e-05,1.04003240114,0.56742174061,0.0087625114313,1.03970052763
+169,2.816666667,pose1_to_pose2_press,0.597613874358,9.07223248542e-05,1.04003245604,0.568184327164,0.0087624659226,1.03970058241
+170,2.833333333,pose1_to_pose2_press,0.59837618168,9.07592752072e-05,1.04003227329,0.568946634008,0.00876250146693,1.03970040538
+171,2.850000000,pose1_to_pose2_press,0.599135207639,9.08211569948e-05,1.04003214016,0.56970565868,0.00876255913986,1.03970027647
+172,2.866666667,pose1_to_pose2_press,0.599892245441,9.08897319301e-05,1.04003224572,0.570462695089,0.00876262277837,1.03970037667
+173,2.883333333,pose1_to_pose2_press,0.600643192852,9.05619777688e-05,1.04003226646,0.571213647536,0.00876231204823,1.0397003957
+174,2.900000000,pose1_to_pose2_press,0.60138923913,9.06806393721e-05,1.04003232538,0.571959692364,0.00876242616585,1.0397004646
+175,2.916666667,pose1_to_pose2_press,0.602134816226,9.08270858152e-05,1.040032103,0.572705267625,0.00876256649206,1.03970024503
+176,2.933333333,pose1_to_pose2_press,0.602877180734,9.0821119928e-05,1.04003244236,0.573447631878,0.00876255918653,1.03970057203
+177,2.950000000,pose1_to_pose2_press,0.603614202952,9.07472008e-05,1.04003229346,0.57418465564,0.00876249053399,1.03970042398
+178,2.966666667,pose1_to_pose2_press,0.604343847272,9.07778323189e-05,1.04003241335,0.574914300268,0.00876252230582,1.03970054641
+179,2.983333333,pose1_to_pose2_press,0.605064006554,9.07855892965e-05,1.04003230729,0.575634458455,0.00876252656354,1.03970044606
+180,3.000000000,pose1_to_pose2_press,0.605768371254,9.08225847816e-05,1.04003229373,0.576338821814,0.00876255886229,1.03970042869
+181,3.016666667,pose1_to_pose2_press,0.606456164428,9.07750208407e-05,1.04003235528,0.577026615939,0.00876251443803,1.03970048812
+182,3.033333333,pose1_to_pose2_press,0.607135481853,9.06953848284e-05,1.04003229485,0.577705934514,0.00876243887087,1.03970043209
+183,3.050000000,pose1_to_pose2_press,0.607805897011,9.07377099945e-05,1.04003221208,0.578376348736,0.00876247810537,1.03970035162
+184,3.066666667,pose1_to_pose2_press,0.608463107757,9.07535097288e-05,1.04003222569,0.579033559803,0.00876249486748,1.03970036207
+185,3.083333333,pose1_to_pose2_press,0.60910787249,9.07037500185e-05,1.04003227395,0.57967832501,0.00876244617932,1.0397003964
+186,3.100000000,pose1_to_pose2_press,0.609735074336,9.08632009194e-05,1.04003214453,0.580305523777,0.0087625955036,1.03970027547
+187,3.116666667,pose1_to_pose2_press,0.610330270461,9.08860333144e-05,1.04003223779,0.580900720651,0.00876262108452,1.03970037424
+188,3.133333333,pose1_to_pose2_press,0.610899340124,9.0779164391e-05,1.04003224807,0.581469790989,0.00876251632252,1.03970037975
+189,3.150000000,pose1_to_pose2_press,0.611447316662,9.07352747003e-05,1.04003246483,0.582017767915,0.00876247354534,1.03970059126
+190,3.166666667,pose1_to_pose2_press,0.611979277907,9.07265277719e-05,1.04003227542,0.582549729147,0.00876246515286,1.03970041333
+191,3.183333333,pose1_to_pose2_press,0.612493566525,9.07930572965e-05,1.04003228287,0.583064017465,0.00876253086988,1.03970042423
+192,3.200000000,pose1_to_pose2_press,0.612981682864,9.08146233371e-05,1.04003240579,0.58355213484,0.00876255594885,1.03970054381
+193,3.216666667,pose1_to_pose2_press,0.613442468574,9.07651220034e-05,1.04003247491,0.584012921748,0.0087625105375,1.03970060936
+194,3.233333333,pose1_to_pose2_press,0.613880205051,9.0719097222e-05,1.04003245264,0.58445065789,0.00876246348759,1.03970058434
+195,3.250000000,pose1_to_pose2_press,0.614300463385,9.0749469517e-05,1.040032345,0.584870914514,0.00876248824152,1.03970047395
+196,3.266666667,pose1_to_pose2_press,0.614708739611,9.08337622681e-05,1.04003213224,0.585279189894,0.00876257017061,1.03970026418
+197,3.283333333,pose1_to_pose2_press,0.615108422639,9.09344598019e-05,1.04003232379,0.585678871438,0.00876266605201,1.0397004609
+198,3.300000000,pose1_to_pose2_press,0.615496846449,9.08300637951e-05,1.04003231567,0.586067296932,0.00876256783747,1.03970045976
+199,3.316666667,pose1_to_pose2_press,0.615857698182,9.07069219466e-05,1.04003230884,0.586428148972,0.00876244527249,1.03970043271
+200,3.333333333,pose1_to_pose2_press,0.616189179846,9.07376817285e-05,1.0400323603,0.586759630844,0.00876247696166,1.03970048379
+201,3.350000000,pose1_to_pose2_press,0.616488368269,9.07845965692e-05,1.04003231195,0.587058818716,0.00876252238083,1.03970044054
+202,3.366666667,pose1_to_pose2_press,0.616764812373,9.07819083626e-05,1.0400322365,0.587335262849,0.00876252011895,1.03970036879
+203,3.383333333,pose1_to_pose2_press,0.617023872691,9.07700175548e-05,1.0400322518,0.587594324004,0.00876251134858,1.03970038611
+204,3.400000000,pose1_to_pose2_press,0.617275888893,9.0852932639e-05,1.04003236084,0.587846338831,0.00876258961515,1.03970049085
+205,3.416666667,pose1_to_pose2_press,0.61752034687,9.07619957927e-05,1.04003223486,0.588090797089,0.00876249993192,1.03970037035
+206,3.433333333,pose1_to_pose2_press,0.617751359859,9.08275223792e-05,1.04003236853,0.588321809939,0.00876256478743,1.03970049498
+207,3.450000000,pose1_to_pose2_press,0.617965573604,9.07621981597e-05,1.04003239079,0.588536025669,0.00876250646251,1.03970051811
+208,3.466666667,pose1_to_pose2_press,0.618156173187,9.07738623488e-05,1.0400324005,0.588726624404,0.00876251530643,1.03970052556
+209,3.483333333,pose1_to_pose2_press,0.618325688703,9.08322065954e-05,1.04003245954,0.588896139677,0.0087625730613,1.0397005878
+210,3.500000000,pose1_to_pose2_press,0.618474544818,9.07894121898e-05,1.04003241532,0.589044995896,0.0087625309035,1.03970054713
+211,3.516666667,pose1_to_pose2_press,0.618608298313,9.0674401545e-05,1.04003230341,0.589178750166,0.00876241873051,1.03970043654
+212,3.533333333,pose1_to_pose2_press,0.618728388978,9.06359270933e-05,1.04003224206,0.589298841378,0.008762382187,1.03970037421
+213,3.550000000,pose1_to_pose2_press,0.618837750711,9.07729750678e-05,1.04003226479,0.589408200966,0.00876251188591,1.03970039411
+214,3.566666667,pose1_to_pose2_press,0.618936828451,9.07043524637e-05,1.04003223286,0.589507280808,0.00876245074606,1.03970036945
+215,3.583333333,pose1_to_pose2_press,0.61902448459,9.09326649325e-05,1.04003235093,0.589594934359,0.00876267059762,1.03970048565
+216,3.600000000,pose1_to_pose2_press,0.619101396634,9.07610361751e-05,1.04003222216,0.589671846573,0.00876249958811,1.03970036423
+217,3.616666667,pose1_to_pose2_press,0.619167316766,9.08343414575e-05,1.0400323928,0.589737767356,0.00876257480809,1.0397005338
+218,3.633333333,pose1_to_pose2_press,0.619221782149,9.08409943172e-05,1.040032301,0.589792231579,0.00876257730759,1.03970043702
+219,3.650000000,pose1_to_pose2_press,0.619265837602,9.0793834909e-05,1.04003223596,0.589836287223,0.00876253127606,1.03970037005
+220,3.666666667,pose1_to_pose2_press,0.619300788182,9.07403737218e-05,1.04003222948,0.589871238868,0.0087624815476,1.03970036514
+221,3.683333333,pose1_to_pose2_press,0.619328758173,9.07553278372e-05,1.04003225273,0.589899209181,0.0087624972168,1.03970038977
+222,3.700000000,pose1_to_pose2_press,0.619350504732,9.09260290503e-05,1.04003236239,0.589920954579,0.0087626640329,1.03970049664
+223,3.716666667,pose1_to_pose2_press,0.619368124211,9.08281953324e-05,1.04003224437,0.589938574222,0.00876256694568,1.03970038079
+224,3.733333333,pose1_to_pose2_press,0.619382189972,9.07641702582e-05,1.04003224404,0.589952640323,0.00876250392194,1.03970037646
+225,3.750000000,pose1_to_pose2_press,0.619392654297,9.0793553898e-05,1.0400323637,0.58996310472,0.00876253339448,1.03970049238
+226,3.766666667,pose1_to_pose2_press,0.619399956236,9.08347279582e-05,1.04003247779,0.589970406642,0.00876257446525,1.0397006048
+227,3.783333333,pose1_to_pose2_press,0.619404312684,9.06755139378e-05,1.04003233381,0.589974763709,0.00876241738102,1.03970046013
+228,3.800000000,pose1_to_pose2_press,0.619406764427,9.06093568228e-05,1.04003226459,0.589977215943,0.00876235295135,1.03970039186
+229,3.816666667,pose1_to_pose2_press,0.619407565693,9.06185501094e-05,1.04003225747,0.58997801756,0.00876236340421,1.03970038682
+230,3.833333333,pose1_to_pose2_press,0.619408251942,9.06264237534e-05,1.04003225137,0.589978704109,0.00876237235663,1.03970038251
+231,3.850000000,pose1_to_pose2_press,0.619408901992,9.06338820719e-05,1.04003224559,0.589979354444,0.00876238083681,1.03970037843
+232,3.866666667,pose1_to_pose2_press,0.619409378106,9.06393447406e-05,1.04003224136,0.589979830766,0.00876238704792,1.03970037544
+233,3.883333333,pose1_to_pose2_press,0.619409830053,9.06445301316e-05,1.04003223734,0.589980282911,0.00876239294376,1.0397003726
+234,3.900000000,pose1_to_pose2_press,0.619410374901,9.06507814277e-05,1.0400322325,0.589980827998,0.00876240005155,1.03970036918
+235,3.916666667,pose1_to_pose2_press,0.61941092008,9.06543085679e-05,1.04003223026,0.589981373145,0.00876240349921,1.0397003676
+236,3.933333333,pose1_to_pose2_press,0.619411613378,9.06558765808e-05,1.04003223018,0.589982066112,0.00876240396461,1.03970036756
+237,3.950000000,pose1_to_pose2_press,0.619412128422,9.06570414407e-05,1.04003223013,0.589982580911,0.00876240431035,1.03970036753
+238,3.966666667,pose1_to_pose2_press,0.619412509788,9.06579039657e-05,1.04003223009,0.589982962095,0.00876240456635,1.03970036751
+239,3.983333333,pose1_to_pose2_press,0.619412927737,9.06588492307e-05,1.04003223004,0.589983379845,0.00876240484691,1.03970036749
+240,4.000000000,pose1_to_pose2_press,0.619413164618,9.06621081741e-05,1.04003224386,0.589983616548,0.00876240745822,1.03970038025
+241,4.016666667,pose1_to_pose2_press,0.619413233612,9.06642355216e-05,1.04003225387,0.589983685463,0.00876240927973,1.03970038949
+242,4.033333333,pose1_to_pose2_press,0.619413385638,9.06689230417e-05,1.04003227593,0.589983837313,0.00876241329336,1.03970040986
+243,4.050000000,pose1_to_pose2_press,0.619413488893,9.06721067788e-05,1.04003229092,0.589983940449,0.0087624160194,1.03970042369
+244,4.066666667,pose1_to_pose2_press,0.619413513562,9.06728674039e-05,1.0400322945,0.589983965089,0.00876241667067,1.03970042699
+245,4.083333333,pose1_to_pose2_press,0.61941357972,9.06749073144e-05,1.0400323041,0.589984031171,0.00876241841732,1.03970043586
+246,4.100000000,pose1_to_pose2_press,0.619413728169,9.06794845391e-05,1.04003232564,0.589984179449,0.00876242233651,1.03970045574
+247,4.116666667,pose1_to_pose2_press,0.619414060258,9.06897240576e-05,1.04003237383,0.589984511154,0.00876243110397,1.03970050023
+248,4.133333333,pose1_to_pose2_press,0.619414350608,9.06704446108e-05,1.04003240222,0.589984801254,0.00876241086879,1.03970052589
+249,4.150000000,pose1_to_pose2_press,0.619414467512,9.0635699976e-05,1.04003240051,0.589984918137,0.00876237605599,1.03970052357
+250,4.166666667,pose1_to_pose2_press,0.619414518559,9.06205284541e-05,1.04003239977,0.589984969176,0.0087623608547,1.03970052255
+251,4.183333333,pose1_to_pose2_press,0.619414742291,9.06800816371e-05,1.04003239039,0.589985192073,0.00876241775188,1.03970051799
+252,4.200000000,pose2_hold,0.619414742291,9.06800816371e-05,1.04003239039,0.589985192075,0.00876241774995,1.03970051799
+253,4.216666667,pose2_hold,0.619414742291,9.06800816371e-05,1.04003239039,0.589985192075,0.00876241775051,1.03970051799
+254,4.233333333,pose2_hold,0.619414742291,9.06800816371e-05,1.04003239039,0.589985192075,0.00876241775026,1.03970051799
+255,4.250000000,pose2_hold,0.619414742291,9.06800816371e-05,1.04003239039,0.589985192075,0.00876241774979,1.03970051799
+256,4.266666667,pose2_hold,0.619414742291,9.06800816371e-05,1.04003239039,0.589985192075,0.00876241774967,1.03970051799
+257,4.283333333,pose2_hold,0.619414742291,9.06800816371e-05,1.04003239039,0.589985192075,0.00876241774997,1.03970051799
+258,4.300000000,pose2_hold,0.619414742291,9.06800816371e-05,1.04003239039,0.589985192075,0.00876241774964,1.03970051799
+259,4.316666667,pose2_hold,0.619414742291,9.06800816371e-05,1.04003239039,0.589985192076,0.00876241774915,1.03970051799
+260,4.333333333,pose2_hold,0.619414742291,9.06800816371e-05,1.04003239039,0.589985192075,0.00876241775007,1.03970051799
+261,4.350000000,pose2_hold,0.619414742291,9.06800816371e-05,1.04003239039,0.589985192076,0.00876241774952,1.03970051799
+262,4.366666667,pose2_hold,0.619414742291,9.06800816371e-05,1.04003239039,0.589985192075,0.00876241775,1.03970051799
+263,4.383333333,pose2_hold,0.619414742291,9.06800816371e-05,1.04003239039,0.589985192076,0.00876241774969,1.03970051799
+264,4.400000000,pose2_hold,0.619414742291,9.06800816371e-05,1.04003239039,0.589985192076,0.00876241774933,1.03970051799
+265,4.416666667,pose2_hold,0.619414742291,9.06800816371e-05,1.04003239039,0.589985192076,0.00876241774948,1.03970051799
+266,4.433333333,pose2_hold,0.619414742291,9.06800816371e-05,1.04003239039,0.589985192076,0.00876241774935,1.03970051799
+267,4.450000000,pose2_hold,0.619414742291,9.06800816371e-05,1.04003239039,0.589985192076,0.00876241774929,1.03970051799
+268,4.466666667,pose2_to_pose3_retreat,0.619414742291,9.06800816371e-05,1.04003239039,0.589985192076,0.00876241774924,1.03970051799
+269,4.483333333,pose2_to_pose3_retreat,0.619414708447,9.06709950563e-05,1.04003240118,0.589985158625,0.00876240988683,1.03970052599
+270,4.500000000,pose2_to_pose3_retreat,0.619414639499,9.06524831625e-05,1.04003242315,0.589985090475,0.0087623938689,1.03970054229
+271,4.516666667,pose2_to_pose3_retreat,0.619414537437,9.06609588863e-05,1.04003242276,0.589984988489,0.00876240261142,1.03970054197
+272,4.533333333,pose2_to_pose3_retreat,0.619414435092,9.06769035916e-05,1.04003241552,0.589984885991,0.00876241811291,1.03970053659
+273,4.550000000,pose2_to_pose3_retreat,0.61941437653,9.06860272208e-05,1.04003241138,0.58998482734,0.00876242698293,1.0397005335
+274,4.566666667,pose2_to_pose3_retreat,0.619414296829,9.06984441107e-05,1.04003240575,0.58998474752,0.00876243905467,1.03970052931
+275,4.583333333,pose2_to_pose3_retreat,0.619413709845,9.06611977957e-05,1.04003238432,0.589984161166,0.00876240411715,1.03970051244
+276,4.600000000,pose2_to_pose3_retreat,0.619412046598,9.06405820794e-05,1.04003232898,0.58998249914,0.00876238772253,1.03970045937
+277,4.616666667,pose2_to_pose3_retreat,0.619407068178,9.07869691333e-05,1.04003225803,0.589977518994,0.00876252818491,1.03970038792
+278,4.633333333,pose2_to_pose3_retreat,0.619397316067,9.08120686457e-05,1.04003238001,0.589967767155,0.00876255406993,1.03970050857
+279,4.650000000,pose2_to_pose3_retreat,0.619378741239,9.07828756223e-05,1.04003234017,0.589949191624,0.0087625224827,1.03970046911
+280,4.666666667,pose2_to_pose3_retreat,0.619350723979,9.07808972442e-05,1.04003239516,0.589921174198,0.00876252000933,1.03970052917
+281,4.683333333,pose2_to_pose3_retreat,0.619311011089,9.05835263579e-05,1.04003226516,0.589881462176,0.00876232551109,1.03970039423
+282,4.700000000,pose2_to_pose3_retreat,0.619261256411,9.0699533168e-05,1.04003225032,0.589831709288,0.00876244798104,1.03970038434
+283,4.716666667,pose2_to_pose3_retreat,0.619201754947,9.07884570258e-05,1.04003238914,0.589772205174,0.00876252741981,1.0397005113
+284,4.733333333,pose2_to_pose3_retreat,0.61913467956,9.06809233257e-05,1.0400322491,0.589705131627,0.00876242633162,1.03970038263
+285,4.750000000,pose2_to_pose3_retreat,0.619060328878,9.06357499075e-05,1.04003235835,0.589630779107,0.00876237473396,1.03970048956
+286,4.766666667,pose2_to_pose3_retreat,0.618976610659,9.07167463898e-05,1.04003234488,0.589547061906,0.00876245929713,1.03970048004
+287,4.783333333,pose2_to_pose3_retreat,0.618881887545,9.07462014873e-05,1.04003236531,0.589452339786,0.00876249197072,1.03970049803
+288,4.800000000,pose2_to_pose3_retreat,0.618771550613,9.09279474228e-05,1.04003233863,0.589342000087,0.00876266448626,1.03970047647
+289,4.816666667,pose2_to_pose3_retreat,0.618644598156,9.09050839877e-05,1.04003226263,0.589215047475,0.00876264101497,1.03970040207
+290,4.833333333,pose2_to_pose3_retreat,0.618500005617,9.08044412614e-05,1.04003228622,0.589070456355,0.00876254487095,1.03970042187
+291,4.850000000,pose2_to_pose3_retreat,0.61833974935,9.07977205365e-05,1.04003235939,0.588910200254,0.0087625385118,1.03970049316
+292,4.866666667,pose2_to_pose3_retreat,0.618165465394,9.07811400589e-05,1.04003232584,0.588735916114,0.00876252119383,1.03970045982
+293,4.883333333,pose2_to_pose3_retreat,0.617975876548,9.06845668156e-05,1.04003228276,0.588546328011,0.00876242670247,1.03970040947
+294,4.900000000,pose2_to_pose3_retreat,0.617768823864,9.07075048685e-05,1.04003241943,0.5883392752,0.00876244868301,1.03970053675
+295,4.916666667,pose2_to_pose3_retreat,0.617540161301,9.08096500897e-05,1.04003223956,0.588110611882,0.00876254880029,1.03970037516
+296,4.933333333,pose2_to_pose3_retreat,0.617289176147,9.07519638107e-05,1.04003223236,0.587859628421,0.00876249656932,1.03970036713
+297,4.950000000,pose2_to_pose3_retreat,0.617016121496,9.06971075818e-05,1.04003221139,0.587586573852,0.00876244203494,1.03970035135
+298,4.966666667,pose2_to_pose3_retreat,0.616722958965,9.07410307499e-05,1.04003222127,0.587293409668,0.00876248011102,1.03970035894
+299,4.983333333,pose2_to_pose3_retreat,0.616413223185,9.08115578965e-05,1.04003224364,0.58698367301,0.00876254727867,1.03970037662
+300,5.000000000,pose2_to_pose3_retreat,0.616089037693,9.08171741587e-05,1.04003233202,0.586659487977,0.00876255403684,1.03970045962
+301,5.016666667,pose2_to_pose3_retreat,0.615748043021,9.07853208126e-05,1.04003253874,0.586318493152,0.00876252094817,1.03970065315
+302,5.033333333,pose2_to_pose3_retreat,0.615387242107,9.09062730475e-05,1.04003234116,0.585957691232,0.00876263896756,1.0397004761
+303,5.050000000,pose2_to_pose3_retreat,0.615003492261,9.07432012811e-05,1.04003224471,0.585573945576,0.00876248990771,1.03970038046
+304,5.066666667,pose2_to_pose3_retreat,0.614596024328,9.06755742865e-05,1.04003233056,0.585166477063,0.00876241999615,1.03970046293
+305,5.083333333,pose2_to_pose3_retreat,0.614160360541,9.0681104807e-05,1.04003228335,0.584730813012,0.00876242447467,1.03970041847
+306,5.100000000,pose2_to_pose3_retreat,0.613701361326,9.07542542195e-05,1.04003222316,0.584271812815,0.00876249409138,1.03970035995
+307,5.116666667,pose2_to_pose3_retreat,0.613222065997,9.08012507652e-05,1.04003226444,0.583792517198,0.00876253993395,1.03970040231
+308,5.133333333,pose2_to_pose3_retreat,0.612727731071,9.07606465137e-05,1.04003233416,0.583298183719,0.00876250417726,1.0397004748
+309,5.150000000,pose2_to_pose3_retreat,0.612219710563,9.07522322307e-05,1.04003236734,0.582790160788,0.00876248709615,1.03970049865
+310,5.166666667,pose2_to_pose3_retreat,0.61169962003,9.07174659122e-05,1.04003249698,0.582270072104,0.00876245844542,1.03970062325
+311,5.183333333,pose2_to_pose3_retreat,0.611162773951,9.07404139139e-05,1.0400323131,0.581733225247,0.0087624788765,1.03970044206
+312,5.200000000,pose2_to_pose3_retreat,0.610593679141,9.08347578266e-05,1.04003215401,0.58116412952,0.00876257035521,1.03970028879
+313,5.216666667,pose2_to_pose3_retreat,0.609991572542,9.08158250519e-05,1.04003216081,0.5805620235,0.00876255348481,1.03970029854
+314,5.233333333,pose2_to_pose3_retreat,0.609354831041,9.08082038165e-05,1.04003221963,0.57992528274,0.00876254835236,1.03970035745
+315,5.250000000,pose2_to_pose3_retreat,0.608692288231,9.0888781539e-05,1.04003227411,0.579262739452,0.00876262721967,1.03970040999
+316,5.266666667,pose2_to_pose3_retreat,0.608009873221,9.08975183746e-05,1.04003234053,0.57858032331,0.0087626318459,1.03970046965
+317,5.283333333,pose2_to_pose3_retreat,0.607315016237,9.08404672673e-05,1.04003227951,0.577885465525,0.00876257184249,1.03970040235
+318,5.300000000,pose2_to_pose3_retreat,0.606611381336,9.07997228437e-05,1.04003223769,0.577181832157,0.00876253670846,1.03970036963
+319,5.316666667,pose2_to_pose3_retreat,0.605903546889,9.07946224464e-05,1.04003223758,0.576473998917,0.00876253574258,1.03970037027
+320,5.333333333,pose2_to_pose3_retreat,0.605187606918,9.08814933849e-05,1.04003221296,0.57575805758,0.00876261814076,1.0397003509
+321,5.350000000,pose2_to_pose3_retreat,0.604462101346,9.07485763864e-05,1.04003235152,0.575032554884,0.00876249460939,1.03970048117
+322,5.366666667,pose2_to_pose3_retreat,0.603722173693,9.07830801521e-05,1.04003228734,0.574292626179,0.00876252560092,1.03970041831
+323,5.383333333,pose2_to_pose3_retreat,0.602965925511,9.07455372323e-05,1.04003238116,0.573536378673,0.00876249050161,1.03970051464
+324,5.400000000,pose2_to_pose3_retreat,0.602196797307,9.06295424873e-05,1.0400323441,0.572767252185,0.00876238045685,1.03970048048
+325,5.416666667,pose2_to_pose3_retreat,0.60141656571,9.05788282263e-05,1.04003220823,0.571987020356,0.00876232907363,1.03970034813
+326,5.433333333,pose2_to_pose3_retreat,0.60062647345,9.07128329803e-05,1.04003221761,0.571196925736,0.00876245502932,1.03970035667
+327,5.450000000,pose2_to_pose3_retreat,0.599836512,9.09303471179e-05,1.04003224983,0.570406962072,0.00876266480427,1.03970038333
+328,5.466666667,pose2_to_pose3_retreat,0.599046063003,9.08909449597e-05,1.04003223896,0.569616512925,0.00876262494142,1.03970037215
+329,5.483333333,pose2_to_pose3_retreat,0.598265171306,9.07716783453e-05,1.04003227077,0.568835623682,0.00876251368755,1.03970039785
+330,5.500000000,pose2_to_pose3_retreat,0.597491169472,9.0609225121e-05,1.04003238918,0.56806162304,0.00876235515474,1.03970051178
+331,5.516666667,pose2_to_pose3_retreat,0.596716064225,9.06604872002e-05,1.04003207881,0.567286517075,0.00876240445546,1.03970021366
+332,5.533333333,pose2_to_pose3_retreat,0.595941153556,9.07973139966e-05,1.04003232859,0.566511605418,0.00876253787582,1.03970046198
+333,5.550000000,pose2_to_pose3_retreat,0.595165176613,9.0847299649e-05,1.04003233774,0.565735627428,0.00876258443858,1.03970047446
+334,5.566666667,pose2_to_pose3_retreat,0.594383409909,9.07858709854e-05,1.04003224295,0.564953861035,0.0087625239195,1.03970037583
+335,5.583333333,pose2_to_pose3_retreat,0.593600354083,9.06972287528e-05,1.04003234532,0.564170806134,0.00876243786306,1.03970046426
+336,5.600000000,pose2_to_pose3_retreat,0.592817303889,9.06565961142e-05,1.04003247073,0.563387755763,0.00876239648386,1.03970058604
+337,5.616666667,pose2_to_pose3_retreat,0.592042529667,9.06650072326e-05,1.04003251672,0.562612981677,0.00876240578785,1.03970064104
+338,5.633333333,pose2_to_pose3_retreat,0.591286865384,9.07110206932e-05,1.04003246618,0.561857317569,0.00876245271512,1.03970059875
+339,5.650000000,pose2_to_pose3_retreat,0.590546756437,9.085130884e-05,1.0400322229,0.561117207916,0.00876259082294,1.0397003609
+340,5.666666667,pose2_to_pose3_retreat,0.589824250816,9.07877096738e-05,1.04003244717,0.56039470215,0.00876252657267,1.039700581
+341,5.683333333,pose2_to_pose3_retreat,0.589119049994,9.07786845579e-05,1.04003222031,0.559689502134,0.00876252021546,1.03970035231
+342,5.700000000,pose2_to_pose3_retreat,0.588425874453,9.08444819027e-05,1.04003222135,0.558996325449,0.00876258196703,1.03970034908
+343,5.716666667,pose2_to_pose3_retreat,0.587737429009,9.08422772167e-05,1.04003233271,0.558307880156,0.00876258019364,1.03970045947
+344,5.733333333,pose2_to_pose3_retreat,0.587056091162,9.0774522593e-05,1.04003231818,0.557626543031,0.00876251503666,1.03970044975
+345,5.750000000,pose2_to_pose3_retreat,0.586387860914,9.07314186336e-05,1.04003231675,0.556958313231,0.00876247352748,1.03970045043
+346,5.766666667,pose2_to_pose3_retreat,0.585739307701,9.07650344853e-05,1.04003243023,0.556309760633,0.00876250899107,1.03970055723
+347,5.783333333,pose2_to_pose3_retreat,0.585110716135,9.0876659978e-05,1.04003218577,0.555681165856,0.00876260969768,1.03970031025
+348,5.800000000,pose2_to_pose3_retreat,0.584505596899,9.06493523203e-05,1.0400323918,0.5550760502,0.0087623945412,1.03970051652
+349,5.816666667,pose2_to_pose3_retreat,0.583919245261,9.07702568085e-05,1.04003248354,0.554489696035,0.00876250703629,1.03970061256
+350,5.833333333,pose2_to_pose3_retreat,0.58335359458,9.09646787328e-05,1.04003227451,0.55392404445,0.00876269868317,1.03970041117
+351,5.850000000,pose2_to_pose3_retreat,0.582811436102,9.08389168086e-05,1.04003223925,0.553381887013,0.00876257636363,1.03970037384
+352,5.866666667,pose2_to_pose3_retreat,0.582294204885,9.08488840565e-05,1.04003224468,0.552864655602,0.00876258557344,1.03970037671
+353,5.883333333,pose2_to_pose3_retreat,0.58179857374,9.08389305686e-05,1.04003222852,0.552369024976,0.00876257750955,1.0397003639
+354,5.900000000,pose2_to_pose3_retreat,0.581320000294,9.07368152554e-05,1.04003227577,0.551890452914,0.00876248008071,1.0397004108
+355,5.916666667,pose2_to_pose3_retreat,0.580852142674,9.0705750162e-05,1.04003235679,0.551422595519,0.00876244950964,1.03970048472
+356,5.933333333,pose2_to_pose3_retreat,0.580398453561,9.06933711434e-05,1.04003223866,0.550968906117,0.00876243647473,1.03970037525
+357,5.950000000,pose2_to_pose3_retreat,0.57996542127,9.06554683006e-05,1.04003236741,0.550535872719,0.00876239464162,1.03970050032
+358,5.966666667,pose2_to_pose3_retreat,0.57956214615,9.08006363673e-05,1.04003252149,0.550132597697,0.00876253972323,1.03970064324
+359,5.983333333,pose2_to_pose3_retreat,0.579191570366,9.08157124368e-05,1.04003246493,0.549762021441,0.00876255370492,1.03970059951
+360,6.000000000,pose2_to_pose3_retreat,0.578853950366,9.08621652091e-05,1.04003244944,0.549424402314,0.00876260332986,1.0397005893
+361,6.016666667,pose2_to_pose3_retreat,0.57854307548,9.07835456782e-05,1.04003237906,0.549113528855,0.00876252949812,1.03970051742
+362,6.033333333,pose2_to_pose3_retreat,0.578250530068,9.07383030883e-05,1.04003239508,0.548820982862,0.00876248222081,1.03970053186
+363,6.050000000,pose2_to_pose3_retreat,0.577970394454,9.07585407347e-05,1.04003242174,0.548540845921,0.00876249791171,1.03970055739
+364,6.066666667,pose2_to_pose3_retreat,0.577701513314,9.07651045235e-05,1.04003239292,0.548271965027,0.00876250513629,1.0397005241
+365,6.083333333,pose2_to_pose3_retreat,0.577445572149,9.07345070837e-05,1.04003251295,0.548016024079,0.00876247500819,1.03970063728
+366,6.100000000,pose2_to_pose3_retreat,0.57720444211,9.07360861988e-05,1.0400324852,0.547774894252,0.00876247731627,1.0397006098
+367,6.116666667,pose2_to_pose3_retreat,0.576987647726,9.07290010293e-05,1.04003230684,0.54755810129,0.00876247489994,1.03970042738
+368,6.133333333,pose2_to_pose3_retreat,0.576793893331,9.08644052118e-05,1.0400323704,0.547364344608,0.00876260292662,1.03970050096
+369,6.150000000,pose2_to_pose3_retreat,0.576623782092,9.08111706678e-05,1.0400319741,0.547194233452,0.00876255046861,1.03970011782
+370,6.166666667,pose2_to_pose3_retreat,0.576475046456,9.0825398223e-05,1.04003238562,0.547045498172,0.00876256571194,1.03970052424
+371,6.183333333,pose2_to_pose3_retreat,0.576348088984,9.06151869846e-05,1.04003237716,0.546918542892,0.00876236287445,1.03970051417
+372,6.200000000,pose2_to_pose3_retreat,0.576236030645,9.07709960939e-05,1.04003237064,0.546806482544,0.00876251167471,1.03970050262
+373,6.216666667,pose2_to_pose3_retreat,0.576137588909,9.08648961515e-05,1.04003232229,0.546708039076,0.00876259961191,1.03970045241
+374,6.233333333,pose2_to_pose3_retreat,0.576052229874,9.07631876434e-05,1.04003224146,0.54662268083,0.00876250063005,1.03970037329
+375,6.250000000,pose2_to_pose3_retreat,0.575977552047,9.07482456834e-05,1.04003224514,0.54654800415,0.00876248956749,1.03970037655
+376,6.266666667,pose2_to_pose3_retreat,0.575912903165,9.08163672867e-05,1.04003224498,0.546483354879,0.00876255641007,1.03970037741
+377,6.283333333,pose2_to_pose3_retreat,0.575857941718,9.08549027295e-05,1.04003249886,0.546428392167,0.00876259025989,1.03970062099
+378,6.300000000,pose2_to_pose3_retreat,0.575812514823,9.09422421438e-05,1.04003240351,0.546382965883,0.00876267996332,1.03970053312
+379,6.316666667,pose2_to_pose3_retreat,0.575775932498,9.08015302657e-05,1.04003243693,0.546346385274,0.00876254512959,1.03970056798
+380,6.333333333,pose2_to_pose3_retreat,0.575746778539,9.0707016353e-05,1.04003243392,0.546317231224,0.0087624503231,1.0397005654
+381,6.350000000,pose2_to_pose3_retreat,0.575724039698,9.07657636042e-05,1.04003232822,0.546294490754,0.00876250357307,1.03970046062
+382,6.366666667,pose2_to_pose3_retreat,0.5757063191,9.08413546748e-05,1.04003226142,0.54627676988,0.00876257800481,1.03970038803
+383,6.383333333,pose2_to_pose3_retreat,0.575693471738,9.06765247779e-05,1.04003224987,0.546263924042,0.0087624184954,1.03970038042
+384,6.400000000,pose2_to_pose3_retreat,0.575684354741,9.0802504999e-05,1.0400322364,0.546254805965,0.00876254091064,1.03970036971
+385,6.416666667,pose2_to_pose3_retreat,0.575678510445,9.09790039281e-05,1.04003222556,0.546248960114,0.00876271219244,1.03970036058
+386,6.433333333,pose2_to_pose3_retreat,0.575674902539,9.08523619541e-05,1.04003222408,0.546245353083,0.00876258856061,1.03970035995
+387,6.450000000,pose2_to_pose3_retreat,0.575672543361,9.07695518486e-05,1.04003222311,0.546242994475,0.00876250771881,1.03970035954
+388,6.466666667,pose2_to_pose3_retreat,0.575671010575,9.07270708479e-05,1.04003222552,0.546241462198,0.00876246694988,1.03970036157
+389,6.483333333,pose2_to_pose3_retreat,0.57566971253,9.07039054949e-05,1.04003223101,0.546240164738,0.0087624457246,1.03970036589
+390,6.500000000,pose2_to_pose3_retreat,0.57566848808,9.06820535407e-05,1.04003223619,0.54623894084,0.00876242570272,1.03970036996
+391,6.516666667,pose2_to_pose3_retreat,0.575667731479,9.06685509902e-05,1.04003223938,0.546238184581,0.00876241333099,1.03970037248
+392,6.533333333,pose2_to_pose3_retreat,0.575667374578,9.06785366237e-05,1.04003227382,0.546237827359,0.00876242220574,1.03970040634
+393,6.550000000,pose2_to_pose3_retreat,0.575667149398,9.06869365292e-05,1.04003229977,0.546237601914,0.00876242969366,1.03970043189
+394,6.566666667,pose2_to_pose3_retreat,0.575667054934,9.0690460318e-05,1.04003231066,0.54623750734,0.00876243283487,1.03970044262
+395,6.583333333,pose2_to_pose3_retreat,0.575667004945,9.06923250531e-05,1.04003231642,0.546237457292,0.00876243449715,1.03970044829
+396,6.600000000,pose2_to_pose3_retreat,0.575666991798,9.06928154951e-05,1.04003231794,0.546237444129,0.00876243493434,1.03970044978
+397,6.616666667,pose2_to_pose3_retreat,0.57566695088,9.0694341855e-05,1.04003232265,0.546237403163,0.00876243629498,1.03970045443
+398,6.633333333,pose2_to_pose3_retreat,0.575666686796,9.0704192979e-05,1.04003235309,0.54623713877,0.00876244507656,1.0397004844
+399,6.650000000,pose2_to_pose3_retreat,0.575666324054,9.07177243645e-05,1.0400323949,0.546236775602,0.00876245713883,1.03970052557
+400,6.666666667,pose2_to_pose3_retreat,0.575666116911,9.07254514376e-05,1.04003241877,0.546236568215,0.00876246402697,1.03970054908
+401,6.683333333,pose2_to_pose3_retreat,0.575666015765,9.07292244984e-05,1.04003243043,0.54623646695,0.00876246739039,1.03970056056
+402,6.700000000,pose2_to_pose3_retreat,0.575666005077,9.07296231661e-05,1.04003243166,0.54623645625,0.00876246774577,1.03970056178
+403,6.716666667,pose2_to_pose3_retreat,0.5756657746,9.07382206608e-05,1.04003245822,0.546236225503,0.00876247540983,1.03970058794
+404,6.733333333,pose2_to_pose3_retreat,0.57566550642,9.0749850691e-05,1.04003247729,0.546235957013,0.00876248597707,1.03970060666
+405,6.750000000,pose2_to_pose3_retreat,0.575665426971,9.07585529769e-05,1.04003244464,0.54623587749,0.00876249443996,1.03970057434
+406,6.766666667,pose2_to_pose3_retreat,0.575665422657,9.07590254749e-05,1.04003244287,0.546235873172,0.00876249489946,1.03970057258
+407,6.783333333,pose2_to_pose3_retreat,0.575665398489,9.07616726592e-05,1.04003243294,0.546235848981,0.00876249747382,1.03970056275
+408,6.800000000,pose2_to_pose3_retreat,0.575665220554,9.07811623199e-05,1.04003235983,0.546235670881,0.00876251642734,1.03970049036
+409,6.816666667,pose2_to_pose3_retreat,0.575664892181,9.08171298383e-05,1.04003222491,0.546235342201,0.00876255140543,1.03970035676
+410,6.833333333,pose2_to_pose3_retreat,0.575664762634,9.08313194468e-05,1.04003217168,0.546235212533,0.00876256520469,1.03970030406
+411,6.850000000,pose2_to_pose3_retreat,0.575664696187,9.08385975372e-05,1.04003214438,0.546235146025,0.00876257228257,1.03970027702
+412,6.866666667,pose2_to_pose3_retreat,0.575664597047,9.08290874521e-05,1.04003213578,0.546235047001,0.00876256319538,1.03970026909
+413,6.883333333,pose2_to_pose3_retreat,0.575664464902,9.07742143724e-05,1.04003219089,0.546234915447,0.00876251038089,1.03970032565
+414,6.900000000,pose2_to_pose3_retreat,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787087,0.00876252613233,1.03970050298

Part2/Obstacle_avoidance/cylinder_0050_17.5/position_02/depth_04/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c6055cb74e2cac159814c901a21ed683ea45a9a892127979a3a8c2bed383bfc
+size 26518137

Part2/Obstacle_avoidance/cylinder_0050_17.5/position_02/depth_04/simulation_data.csv

@@ -0,0 +1,418 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+1,0.016666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+2,0.033333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+3,0.050000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+4,0.066666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+5,0.083333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+6,0.100000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+7,0.116666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+8,0.133333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+9,0.150000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+10,0.166666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+11,0.183333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+12,0.200000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+13,0.216666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+14,0.233333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+15,0.250000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+16,0.266666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+17,0.283333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+18,0.300000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+19,0.316666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+20,0.333333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+21,0.350000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+22,0.366666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+23,0.383333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+24,0.400000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+25,0.416666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+26,0.433333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+27,0.450000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+28,0.466666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+29,0.483333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+30,0.500000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+31,0.516666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+32,0.533333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+33,0.550000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+34,0.566666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+35,0.583333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+36,0.600000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+37,0.616666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+38,0.633333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+39,0.650000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+40,0.666666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+41,0.683333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+42,0.700000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+43,0.716666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+44,0.733333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+45,0.750000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+46,0.766666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+47,0.783333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+48,0.800000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+49,0.816666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+50,0.833333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+51,0.850000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+52,0.866666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+53,0.883333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+54,0.900000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+55,0.916666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+56,0.933333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+57,0.950000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+58,0.966666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+59,0.983333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+60,1.000000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+61,1.016666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+62,1.033333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+63,1.050000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+64,1.066666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+65,1.083333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+66,1.100000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+67,1.116666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+68,1.133333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+69,1.150000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+70,1.166666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+71,1.183333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+72,1.200000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+73,1.216666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+74,1.233333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+75,1.250000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+76,1.266666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+77,1.283333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+78,1.300000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+79,1.316666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+80,1.333333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+81,1.350000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+82,1.366666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+83,1.383333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+84,1.400000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+85,1.416666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+86,1.433333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+87,1.450000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+88,1.466666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+89,1.483333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+90,1.500000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+91,1.516666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+92,1.533333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+93,1.550000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+94,1.566666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+95,1.583333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+96,1.600000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+97,1.616666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+98,1.633333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+99,1.650000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+100,1.666666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+101,1.683333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+102,1.700000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+103,1.716666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+104,1.733333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+105,1.750000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+106,1.766666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+107,1.783333333,pose1_to_pose2_press,0.57566436402,9.07680344871e-05,1.0400323585,0.546234816401,0.00876251030681,1.03970048994
+108,1.800000000,pose1_to_pose2_press,0.575664397399,9.07895567835e-05,1.04003228204,0.546234848872,0.00876252885841,1.03970041635
+109,1.816666667,pose1_to_pose2_press,0.575664420701,9.08045819351e-05,1.04003222867,0.546234871541,0.00876254180966,1.03970036497
+110,1.833333333,pose1_to_pose2_press,0.57566442185,9.08053228061e-05,1.04003222603,0.546234872659,0.00876254244827,1.03970036243
+111,1.850000000,pose1_to_pose2_press,0.575664463362,9.07996055283e-05,1.04003221171,0.546234914236,0.0087625369458,1.03970034796
+112,1.866666667,pose1_to_pose2_press,0.57566456576,9.07779213098e-05,1.04003219521,0.546235017072,0.00876251670386,1.03970033024
+113,1.883333333,pose1_to_pose2_press,0.575664939516,9.06987732297e-05,1.04003213499,0.546235392429,0.00876244282014,1.03970026557
+114,1.900000000,pose1_to_pose2_press,0.575665734246,9.07418511154e-05,1.04003234367,0.546236186344,0.00876248309392,1.0397004733
+115,1.916666667,pose1_to_pose2_press,0.57566736024,9.07758185864e-05,1.04003243863,0.546237811722,0.0087625150175,1.03970056955
+116,1.933333333,pose1_to_pose2_press,0.57567238519,9.07252457838e-05,1.04003233906,0.546242838567,0.00876247121846,1.03970047892
+117,1.950000000,pose1_to_pose2_press,0.575682552192,9.07121883148e-05,1.04003235495,0.546253004268,0.00876245349568,1.03970048819
+118,1.966666667,pose1_to_pose2_press,0.575702012671,9.07006963561e-05,1.04003232446,0.546272465836,0.00876244550159,1.03970045243
+119,1.983333333,pose1_to_pose2_press,0.575731462163,9.09124784397e-05,1.04003248677,0.546301910921,0.00876264229042,1.03970061361
+120,2.000000000,pose1_to_pose2_press,0.575772799707,9.07715817393e-05,1.04003228102,0.54634325144,0.00876251161819,1.03970041126
+121,2.016666667,pose1_to_pose2_press,0.575824278458,9.0767543825e-05,1.0400320836,0.546394730779,0.00876250998426,1.03970022439
+122,2.033333333,pose1_to_pose2_press,0.575885492029,9.06883262206e-05,1.04003232189,0.546455944914,0.00876243234841,1.03970045395
+123,2.050000000,pose1_to_pose2_press,0.575953785018,9.08077917757e-05,1.04003245411,0.546524237121,0.00876254906133,1.0397005835
+124,2.066666667,pose1_to_pose2_press,0.576029037986,9.08566888663e-05,1.04003240882,0.546599489712,0.00876259680556,1.03970054153
+125,2.083333333,pose1_to_pose2_press,0.576112380538,9.09277312077e-05,1.04003232368,0.546682831548,0.00876266575525,1.03970046508
+126,2.100000000,pose1_to_pose2_press,0.576205118729,9.09223176053e-05,1.04003236861,0.546775570094,0.00876266154471,1.03970050991
+127,2.116666667,pose1_to_pose2_press,0.576311045378,9.07681995827e-05,1.04003244178,0.546881497992,0.00876251131791,1.03970057401
+128,2.133333333,pose1_to_pose2_press,0.576431325995,9.07078538358e-05,1.0400323436,0.547001778053,0.00876244903155,1.03970047437
+129,2.150000000,pose1_to_pose2_press,0.576567423726,9.07010440571e-05,1.04003225334,0.547137876027,0.00876244312305,1.03970038601
+130,2.166666667,pose1_to_pose2_press,0.576720113308,9.07513073896e-05,1.04003237505,0.547290566975,0.00876249802655,1.03970050781
+131,2.183333333,pose1_to_pose2_press,0.576889653257,9.08598305375e-05,1.04003259608,0.547460103642,0.00876259539396,1.0397007283
+132,2.200000000,pose1_to_pose2_press,0.577077213601,9.07569737037e-05,1.04003232576,0.547647664861,0.008762495192,1.03970044974
+133,2.216666667,pose1_to_pose2_press,0.577283872921,9.08894912254e-05,1.0400324503,0.547854322697,0.00876262283623,1.03970057853
+134,2.233333333,pose1_to_pose2_press,0.577512719736,9.0765933114e-05,1.04003230017,0.548083172119,0.00876250832654,1.03970043363
+135,2.250000000,pose1_to_pose2_press,0.577764629238,9.06865991025e-05,1.04003220106,0.54833508332,0.00876243506541,1.03970034235
+136,2.266666667,pose1_to_pose2_press,0.578039887307,9.06615313102e-05,1.04003216395,0.548610340922,0.00876240806972,1.03970029619
+137,2.283333333,pose1_to_pose2_press,0.578336521194,9.07202236275e-05,1.04003234974,0.548906973642,0.00876246268515,1.03970047892
+138,2.300000000,pose1_to_pose2_press,0.578651682147,9.07299868538e-05,1.04003236065,0.549222134179,0.00876247111323,1.03970049178
+139,2.316666667,pose1_to_pose2_press,0.578982309437,9.06936800815e-05,1.04003225453,0.549552761154,0.00876243373514,1.03970038547
+140,2.333333333,pose1_to_pose2_press,0.579325355876,9.07617510686e-05,1.04003218824,0.549895806324,0.008762497641,1.03970032287
+141,2.350000000,pose1_to_pose2_press,0.579680257776,9.08393683688e-05,1.04003209771,0.55025070769,0.0087625735693,1.03970023554
+142,2.366666667,pose1_to_pose2_press,0.580053115,9.07351181677e-05,1.04003214098,0.55062356699,0.00876247617591,1.03970027379
+143,2.383333333,pose1_to_pose2_press,0.580446837895,9.08017035395e-05,1.04003222564,0.551017289245,0.00876254079968,1.03970036386
+144,2.400000000,pose1_to_pose2_press,0.580867904397,9.06908942021e-05,1.04003237551,0.551438357422,0.0087624352936,1.03970050376
+145,2.416666667,pose1_to_pose2_press,0.581318026195,9.08256394861e-05,1.04003235396,0.551888476882,0.00876256231075,1.03970048761
+146,2.433333333,pose1_to_pose2_press,0.581801015353,9.07708660754e-05,1.04003226799,0.552371465728,0.00876250632427,1.03970039746
+147,2.450000000,pose1_to_pose2_press,0.582309278958,9.07927314419e-05,1.04003242849,0.552879730825,0.00876253335089,1.03970056051
+148,2.466666667,pose1_to_pose2_press,0.582840587741,9.0610591349e-05,1.04003242021,0.55341104098,0.00876235571315,1.03970054815
+149,2.483333333,pose1_to_pose2_press,0.583381642674,9.06915480765e-05,1.04003228022,0.553952095023,0.00876243389409,1.03970041451
+150,2.500000000,pose1_to_pose2_press,0.583931332707,9.07582727742e-05,1.04003223058,0.554501784884,0.00876250009065,1.03970036626
+151,2.516666667,pose1_to_pose2_press,0.584493677577,9.07459101812e-05,1.04003230153,0.55506412955,0.00876248690625,1.0397004338
+152,2.533333333,pose1_to_pose2_press,0.585072990891,9.07635048002e-05,1.04003232239,0.555643441836,0.00876250102888,1.03970045501
+153,2.550000000,pose1_to_pose2_press,0.585676050725,9.07566807715e-05,1.04003226011,0.55624650191,0.00876249509938,1.03970039487
+154,2.566666667,pose1_to_pose2_press,0.586304910342,9.07040956613e-05,1.04003231291,0.556875363202,0.00876244828446,1.03970044984
+155,2.583333333,pose1_to_pose2_press,0.586956638546,9.0691672944e-05,1.04003220519,0.557527090768,0.00876243379667,1.03970034468
+156,2.600000000,pose1_to_pose2_press,0.587621423149,9.07852745474e-05,1.04003224657,0.55819187405,0.0087625225366,1.0397003761
+157,2.616666667,pose1_to_pose2_press,0.588296223764,9.07831749673e-05,1.04003220935,0.55886667395,0.00876251835238,1.0397003479
+158,2.633333333,pose1_to_pose2_press,0.588981718356,9.0760592187e-05,1.04003217022,0.559552169671,0.0087624990568,1.03970029449
+159,2.650000000,pose1_to_pose2_press,0.589680664864,9.08664775133e-05,1.04003243832,0.560251114362,0.00876259877699,1.0397005626
+160,2.666666667,pose1_to_pose2_press,0.590394501435,9.07736708755e-05,1.04003229921,0.560964952811,0.00876251266679,1.03970043193
+161,2.683333333,pose1_to_pose2_press,0.59112070013,9.08029496292e-05,1.0400324018,0.561691150874,0.00876253977476,1.03970053387
+162,2.700000000,pose1_to_pose2_press,0.591856999988,9.09087294332e-05,1.04003257252,0.562427449888,0.00876264248692,1.0397006992
+163,2.716666667,pose1_to_pose2_press,0.592608399551,9.08868115852e-05,1.04003240689,0.563178851055,0.0087626262882,1.03970054083
+164,2.733333333,pose1_to_pose2_press,0.593370511307,9.07812844757e-05,1.04003234895,0.563940963705,0.00876252373566,1.03970048135
+165,2.750000000,pose1_to_pose2_press,0.594137352776,9.07457897075e-05,1.0400324309,0.564707804653,0.00876248613604,1.03970055453
+166,2.766666667,pose1_to_pose2_press,0.594910449669,9.07220689358e-05,1.04003229886,0.565480902583,0.00876246613745,1.03970042779
+167,2.783333333,pose1_to_pose2_press,0.595687761096,9.06645493036e-05,1.04003235867,0.566258214472,0.00876241007678,1.03970048481
+168,2.800000000,pose1_to_pose2_press,0.596467084431,9.07765724945e-05,1.04003227332,0.567037535788,0.00876251553881,1.03970040704
+169,2.816666667,pose1_to_pose2_press,0.597249109008,9.07369798951e-05,1.0400324656,0.567819561032,0.00876247828313,1.03970060126
+170,2.833333333,pose1_to_pose2_press,0.598026385024,9.08355296541e-05,1.04003251373,0.568596837803,0.00876257900361,1.03970063925
+171,2.850000000,pose1_to_pose2_press,0.598800162579,9.08905973384e-05,1.04003249518,0.569370612621,0.00876262496131,1.03970062544
+172,2.866666667,pose1_to_pose2_press,0.599571724274,9.07663979348e-05,1.040032161,0.57014217559,0.0087625052412,1.03970029535
+173,2.883333333,pose1_to_pose2_press,0.600335889229,9.06893172145e-05,1.04003229092,0.570906342469,0.00876243468083,1.03970042512
+174,2.900000000,pose1_to_pose2_press,0.60109700373,9.07559195621e-05,1.04003235782,0.571667455435,0.00876249599275,1.03970048999
+175,2.916666667,pose1_to_pose2_press,0.601859940047,9.07515090645e-05,1.04003235334,0.572430392365,0.00876249376232,1.03970048812
+176,2.933333333,pose1_to_pose2_press,0.602623878535,9.07138602366e-05,1.04003238677,0.573194331913,0.00876245996255,1.03970052825
+177,2.950000000,pose1_to_pose2_press,0.603387563864,9.076063726e-05,1.04003240301,0.573958015595,0.00876250101366,1.03970054096
+178,2.966666667,pose1_to_pose2_press,0.604144180249,9.07387417751e-05,1.04003234169,0.574714631249,0.00876247620746,1.03970046853
+179,2.983333333,pose1_to_pose2_press,0.604892055077,9.06564213767e-05,1.0400323584,0.575462508095,0.00876240064228,1.0397004828
+180,3.000000000,pose1_to_pose2_press,0.605622771509,9.07703145649e-05,1.04003247706,0.576193224326,0.00876251395379,1.03970060422
+181,3.016666667,pose1_to_pose2_press,0.606336102677,9.07553595882e-05,1.04003233926,0.576906554277,0.00876249507454,1.0397004718
+182,3.033333333,pose1_to_pose2_press,0.607042455969,9.07788611165e-05,1.04003226648,0.577612907417,0.0087625179086,1.03970039526
+183,3.050000000,pose1_to_pose2_press,0.607739345339,9.06079880522e-05,1.04003227754,0.578309798276,0.00876235192761,1.03970040211
+184,3.066666667,pose1_to_pose2_press,0.608423439609,9.07958898271e-05,1.04003208963,0.578993890677,0.00876253407577,1.03970022968
+185,3.083333333,pose1_to_pose2_press,0.609097719121,9.07611971257e-05,1.04003226994,0.579668171807,0.00876250426382,1.03970039411
+186,3.100000000,pose1_to_pose2_press,0.609756850897,9.07677627479e-05,1.04003245189,0.580327304971,0.00876251579076,1.03970058278
+187,3.116666667,pose1_to_pose2_press,0.610388781876,9.08774045533e-05,1.04003237861,0.580959231894,0.00876261181007,1.03970051329
+188,3.133333333,pose1_to_pose2_press,0.610995895305,9.07485876567e-05,1.04003228197,0.581566346432,0.0087624866271,1.03970041331
+189,3.150000000,pose1_to_pose2_press,0.611580875975,9.08252343983e-05,1.0400324677,0.582151326979,0.00876256280129,1.0397005979
+190,3.166666667,pose1_to_pose2_press,0.612148913974,9.09609816243e-05,1.04003253979,0.582719363842,0.00876269480378,1.03970067264
+191,3.183333333,pose1_to_pose2_press,0.612698513783,9.08682594604e-05,1.04003242796,0.583268965057,0.00876260696641,1.03970056159
+192,3.200000000,pose1_to_pose2_press,0.613220704256,9.06846083772e-05,1.04003231746,0.583791157561,0.00876243037432,1.03970045147
+193,3.216666667,pose1_to_pose2_press,0.613713850753,9.06834819686e-05,1.04003224162,0.584284303195,0.00876242669124,1.03970038033
+194,3.233333333,pose1_to_pose2_press,0.614179711847,9.07892738412e-05,1.04003232063,0.584750163077,0.00876252864582,1.03970046026
+195,3.250000000,pose1_to_pose2_press,0.614627234253,9.08992266529e-05,1.04003225103,0.585197683809,0.00876263287919,1.03970038344
+196,3.266666667,pose1_to_pose2_press,0.615064823782,9.08661511631e-05,1.04003242835,0.585635274356,0.00876260358939,1.03970056185
+197,3.283333333,pose1_to_pose2_press,0.615494884613,9.08160357331e-05,1.0400323002,0.586065335011,0.00876255313314,1.03970043255
+198,3.300000000,pose1_to_pose2_press,0.615914794487,9.07854142617e-05,1.0400323192,0.586485244976,0.00876252313,1.03970045232
+199,3.316666667,pose1_to_pose2_press,0.616309403168,9.07004860517e-05,1.04003222455,0.586879855551,0.00876244492163,1.03970035856
+200,3.333333333,pose1_to_pose2_press,0.616676122584,9.06829278057e-05,1.04003224321,0.587246575095,0.00876242797025,1.03970037578
+201,3.350000000,pose1_to_pose2_press,0.61701046798,9.07423477875e-05,1.04003234453,0.587580919316,0.00876248340601,1.03970047122
+202,3.366666667,pose1_to_pose2_press,0.617320781755,9.07695987866e-05,1.04003225448,0.587891233374,0.00876251177204,1.03970037776
+203,3.383333333,pose1_to_pose2_press,0.617611768401,9.07535795919e-05,1.04003211017,0.588182220469,0.00876249821341,1.03970024897
+204,3.400000000,pose1_to_pose2_press,0.617893155557,9.0847089183e-05,1.04003235308,0.588463604645,0.00876258145908,1.03970048551
+205,3.416666667,pose1_to_pose2_press,0.618164896342,9.08149419889e-05,1.04003237228,0.588735346055,0.00876255149668,1.03970050102
+206,3.433333333,pose1_to_pose2_press,0.618422120506,9.07283835863e-05,1.04003227112,0.588992571064,0.00876246804194,1.03970040299
+207,3.450000000,pose1_to_pose2_press,0.618662538136,9.07331883914e-05,1.04003220345,0.589232988226,0.00876247182871,1.03970034531
+208,3.466666667,pose1_to_pose2_press,0.618880863322,9.07916217817e-05,1.04003221757,0.589451312087,0.00876252580669,1.03970035526
+209,3.483333333,pose1_to_pose2_press,0.619078723082,9.08229868016e-05,1.04003232055,0.589649172602,0.00876255964077,1.03970045074
+210,3.500000000,pose1_to_pose2_press,0.619255876689,9.08426473947e-05,1.04003241487,0.589826327063,0.0087625824357,1.03970054776
+211,3.516666667,pose1_to_pose2_press,0.619416767132,9.07838778543e-05,1.04003239246,0.589987217936,0.00876252508729,1.03970052436
+212,3.533333333,pose1_to_pose2_press,0.619562655724,9.0708178218e-05,1.04003232446,0.590133106222,0.00876244801072,1.03970044646
+213,3.550000000,pose1_to_pose2_press,0.619694502288,9.08347886209e-05,1.04003235833,0.590264949589,0.00876256429801,1.03970048608
+214,3.566666667,pose1_to_pose2_press,0.619813009732,9.07740316629e-05,1.04003225146,0.590383458654,0.00876250934121,1.0397003839
+215,3.583333333,pose1_to_pose2_press,0.619917255125,9.07946088194e-05,1.04003233143,0.590487704782,0.00876253263599,1.03970046827
+216,3.600000000,pose1_to_pose2_press,0.620008573533,9.07892976223e-05,1.04003198016,0.590579022265,0.00876252431447,1.03970012037
+217,3.616666667,pose1_to_pose2_press,0.62008750723,9.08220116356e-05,1.04003233464,0.590657955907,0.00876255664515,1.03970046527
+218,3.633333333,pose1_to_pose2_press,0.620154607944,9.07602624209e-05,1.04003218774,0.590725057254,0.00876249706936,1.03970031554
+219,3.650000000,pose1_to_pose2_press,0.620211026701,9.07500708051e-05,1.04003189692,0.590781477215,0.00876249127024,1.03970004102
+220,3.666666667,pose1_to_pose2_press,0.620257640139,9.07855442607e-05,1.04003209112,0.590828089943,0.00876252433678,1.03970022834
+221,3.683333333,pose1_to_pose2_press,0.620295754285,9.07082189298e-05,1.04003232275,0.590866205277,0.00876245094892,1.03970045159
+222,3.700000000,pose1_to_pose2_press,0.620325574792,9.06636379599e-05,1.04003243141,0.590896026386,0.00876240833042,1.03970055839
+223,3.716666667,pose1_to_pose2_press,0.620349258361,9.07326299318e-05,1.04003244316,0.590919708348,0.00876247188312,1.03970057177
+224,3.733333333,pose1_to_pose2_press,0.620367233969,9.07436404328e-05,1.04003219976,0.590937684031,0.00876248351127,1.03970034079
+225,3.750000000,pose1_to_pose2_press,0.620380506922,9.0787937409e-05,1.04003240203,0.590950957821,0.00876253080898,1.03970053995
+226,3.766666667,pose1_to_pose2_press,0.6203903378,9.07002361736e-05,1.0400323822,0.590960789601,0.00876244585723,1.03970051056
+227,3.783333333,pose1_to_pose2_press,0.620397444021,9.06251784637e-05,1.04003230853,0.590967896289,0.00876237201344,1.03970042891
+228,3.800000000,pose1_to_pose2_press,0.620402437803,9.0785824656e-05,1.04003235674,0.59097288888,0.00876252863874,1.03970048223
+229,3.816666667,pose1_to_pose2_press,0.620405667022,9.08341211253e-05,1.04003240154,0.590976117757,0.00876257581701,1.03970052962
+230,3.833333333,pose1_to_pose2_press,0.620408008769,9.07808991278e-05,1.04003245564,0.590978459936,0.00876252413677,1.03970058448
+231,3.850000000,pose1_to_pose2_press,0.620409509161,9.07467990329e-05,1.04003249031,0.590979960604,0.0087624910245,1.03970061963
+232,3.866666667,pose1_to_pose2_press,0.620409980454,9.07413486927e-05,1.04003247979,0.59098043188,0.00876248552695,1.03970060921
+233,3.883333333,pose1_to_pose2_press,0.620409986061,9.07413678261e-05,1.04003247932,0.590980437485,0.00876248553982,1.03970060874
+234,3.900000000,pose1_to_pose2_press,0.620410039622,9.07415506102e-05,1.04003247486,0.590980491028,0.00876248566273,1.03970060428
+235,3.916666667,pose1_to_pose2_press,0.620410197733,9.07420901863e-05,1.0400324617,0.590980649085,0.00876248602555,1.03970059113
+236,3.933333333,pose1_to_pose2_press,0.620410686532,9.07437582837e-05,1.040032421,0.59098113772,0.00876248714722,1.03970055046
+237,3.950000000,pose1_to_pose2_press,0.620411388984,9.07461555003e-05,1.04003236252,0.590981839936,0.00876248875917,1.03970049201
+238,3.966666667,pose1_to_pose2_press,0.620412120028,9.07486502944e-05,1.04003230165,0.590982570735,0.00876249043673,1.03970043118
+239,3.983333333,pose1_to_pose2_press,0.62041266654,9.07472943553e-05,1.04003225351,0.590983117114,0.00876248864669,1.03970038321
+240,4.000000000,pose1_to_pose2_press,0.620413028452,9.07019300193e-05,1.04003218528,0.590983479641,0.00876244543628,1.03970031706
+241,4.016666667,pose1_to_pose2_press,0.620413337514,9.06631902251e-05,1.04003212701,0.590983789228,0.00876240853586,1.03970026057
+242,4.033333333,pose1_to_pose2_press,0.620413664629,9.06221875401e-05,1.04003206534,0.590984116899,0.00876236948,1.03970020078
+243,4.050000000,pose1_to_pose2_press,0.620413942869,9.05873111566e-05,1.04003201289,0.590984395612,0.00876233625956,1.03970014992
+244,4.066666667,pose1_to_pose2_press,0.620414059591,9.05726805276e-05,1.04003199088,0.590984512532,0.0087623223236,1.03970012859
+245,4.083333333,pose1_to_pose2_press,0.620414098978,9.05750175067e-05,1.04003199942,0.590984551849,0.00876232439623,1.03970013646
+246,4.100000000,pose1_to_pose2_press,0.620414191757,9.05852299411e-05,1.04003202984,0.590984644374,0.00876233366317,1.03970016477
+247,4.116666667,pose1_to_pose2_press,0.62041428254,9.0595222631e-05,1.04003205961,0.590984734909,0.00876234273072,1.03970019247
+248,4.133333333,pose1_to_pose2_press,0.620414394547,9.06075514844e-05,1.04003209634,0.590984846609,0.00876235391814,1.03970022664
+249,4.150000000,pose1_to_pose2_press,0.620414397779,9.06079072596e-05,1.0400320974,0.590984849832,0.00876235424098,1.03970022763
+250,4.166666667,pose1_to_pose2_press,0.620414461497,9.06149209033e-05,1.04003211829,0.590984913376,0.00876236060528,1.03970024707
+251,4.183333333,pose1_to_pose2_press,0.620414549793,9.06259393681e-05,1.04003214591,0.590985001446,0.00876237078648,1.0397002729
+252,4.200000000,pose1_to_pose2_press,0.620414609087,9.06660102492e-05,1.04003213092,0.590985060989,0.0087624118674,1.03970026224
+253,4.216666667,pose1_to_pose2_press,0.620414665422,9.07040812558e-05,1.04003211667,0.59098511756,0.00876245089839,1.03970025211
+254,4.233333333,pose2_hold,0.620414665422,9.07040812558e-05,1.04003211667,0.590985117562,0.00876245089728,1.03970025211
+255,4.250000000,pose2_hold,0.620414665422,9.07040812558e-05,1.04003211667,0.590985117563,0.00876245089666,1.03970025211
+256,4.266666667,pose2_hold,0.620414665422,9.07040812558e-05,1.04003211667,0.590985117563,0.00876245089667,1.03970025211
+257,4.283333333,pose2_hold,0.620414665422,9.07040812558e-05,1.04003211667,0.590985117563,0.00876245089693,1.03970025211
+258,4.300000000,pose2_hold,0.620414665422,9.07040812558e-05,1.04003211667,0.590985117563,0.00876245089692,1.03970025211
+259,4.316666667,pose2_hold,0.620414665422,9.07040812558e-05,1.04003211667,0.590985117563,0.00876245089697,1.03970025211
+260,4.333333333,pose2_hold,0.620414665422,9.07040812558e-05,1.04003211667,0.590985117563,0.00876245089687,1.03970025211
+261,4.350000000,pose2_hold,0.620414665422,9.07040812558e-05,1.04003211667,0.590985117563,0.00876245089634,1.03970025211
+262,4.366666667,pose2_hold,0.620414665422,9.07040812558e-05,1.04003211667,0.590985117563,0.00876245089661,1.03970025211
+263,4.383333333,pose2_hold,0.620414665422,9.07040812558e-05,1.04003211667,0.590985117563,0.00876245089658,1.03970025211
+264,4.400000000,pose2_hold,0.620414665422,9.07040812558e-05,1.04003211667,0.590985117563,0.00876245089649,1.03970025211
+265,4.416666667,pose2_hold,0.620414665422,9.07040812558e-05,1.04003211667,0.590985117564,0.00876245089633,1.03970025211
+266,4.433333333,pose2_hold,0.620414665422,9.07040812558e-05,1.04003211667,0.590985117564,0.00876245089609,1.03970025211
+267,4.450000000,pose2_hold,0.620414665422,9.07040812558e-05,1.04003211667,0.590985117564,0.00876245089605,1.03970025211
+268,4.466666667,pose2_hold,0.620414665422,9.07040812558e-05,1.04003211667,0.590985117564,0.00876245089599,1.03970025211
+269,4.483333333,pose2_hold,0.620414665422,9.07040812558e-05,1.04003211667,0.590985117564,0.00876245089598,1.03970025211
+270,4.500000000,pose2_to_pose3_retreat,0.620414665422,9.07040812558e-05,1.04003211667,0.590985117564,0.00876245089591,1.03970025211
+271,4.516666667,pose2_to_pose3_retreat,0.620414682362,9.0714197196e-05,1.04003205991,0.590985134025,0.00876245929209,1.0397001929
+272,4.533333333,pose2_to_pose3_retreat,0.620414686232,9.07165082023e-05,1.04003204694,0.590985137785,0.00876246121021,1.03970017937
+273,4.550000000,pose2_to_pose3_retreat,0.620414651437,9.07185032758e-05,1.04003201262,0.590985102785,0.00876246244295,1.03970014336
+274,4.566666667,pose2_to_pose3_retreat,0.620414482885,9.07026298954e-05,1.04003201557,0.590984934572,0.0087624476928,1.03970014567
+275,4.583333333,pose2_to_pose3_retreat,0.620414261049,9.06817386205e-05,1.04003201945,0.590984713184,0.00876242827983,1.0397001487
+276,4.600000000,pose2_to_pose3_retreat,0.620413677511,9.07105048948e-05,1.04003212661,0.590984129344,0.00876245610514,1.03970025772
+277,4.616666667,pose2_to_pose3_retreat,0.620412248853,9.07434266178e-05,1.04003223394,0.590982700365,0.00876248811098,1.03970036936
+278,4.633333333,pose2_to_pose3_retreat,0.620409139929,9.07187264494e-05,1.04003222276,0.590979591897,0.00876246501327,1.03970036009
+279,4.650000000,pose2_to_pose3_retreat,0.620401511604,9.07287536554e-05,1.04003228502,0.590971962191,0.00876247036601,1.03970042221
+280,4.666666667,pose2_to_pose3_retreat,0.620387503775,9.07536298165e-05,1.04003203662,0.590957954329,0.00876249510369,1.0397001766
+281,4.683333333,pose2_to_pose3_retreat,0.62036387701,9.06537031536e-05,1.04003234473,0.590934328566,0.00876239852361,1.03970048505
+282,4.700000000,pose2_to_pose3_retreat,0.62033012614,9.0711785546e-05,1.04003238446,0.590900578293,0.00876245850087,1.0397005193
+283,4.716666667,pose2_to_pose3_retreat,0.620286377898,9.08817495695e-05,1.04003238259,0.590856827616,0.00876261990244,1.03970051526
+284,4.733333333,pose2_to_pose3_retreat,0.620234073476,9.08281202701e-05,1.04003231826,0.590804523211,0.00876256657706,1.03970045337
+285,4.750000000,pose2_to_pose3_retreat,0.620173464747,9.08239728567e-05,1.04003222193,0.590743915047,0.00876256439523,1.03970036007
+286,4.766666667,pose2_to_pose3_retreat,0.620105745122,9.08579997595e-05,1.04003238527,0.590676195234,0.00876259746405,1.03970051698
+287,4.783333333,pose2_to_pose3_retreat,0.620030325916,9.08000437869e-05,1.04003239327,0.590600774741,0.00876253495227,1.03970052166
+288,4.800000000,pose2_to_pose3_retreat,0.619942844916,9.07361404679e-05,1.04003220892,0.590513293208,0.00876246928771,1.03970034016
+289,4.816666667,pose2_to_pose3_retreat,0.619842183807,9.07783560677e-05,1.04003217651,0.590412634211,0.00876251864758,1.03970030923
+290,4.833333333,pose2_to_pose3_retreat,0.619725234487,9.08398247731e-05,1.04003235565,0.590295685198,0.00876258103889,1.03970048793
+291,4.850000000,pose2_to_pose3_retreat,0.619591983974,9.07129403342e-05,1.04003224341,0.590162435241,0.00876245587778,1.03970037584
+292,4.866666667,pose2_to_pose3_retreat,0.619441411352,9.07264008476e-05,1.04003222894,0.590011861121,0.0087624643703,1.0397003654
+293,4.883333333,pose2_to_pose3_retreat,0.619272132991,9.07972770546e-05,1.0400324401,0.589842583167,0.00876253624017,1.03970057165
+294,4.900000000,pose2_to_pose3_retreat,0.619084854988,9.06969256466e-05,1.04003235007,0.589655305977,0.00876243809733,1.03970047227
+295,4.916666667,pose2_to_pose3_retreat,0.618879992778,9.08580521024e-05,1.04003240971,0.589450443241,0.00876259760202,1.03970053931
+296,4.933333333,pose2_to_pose3_retreat,0.61865757272,9.08704970282e-05,1.04003238652,0.589228023569,0.00876261109526,1.03970051325
+297,4.950000000,pose2_to_pose3_retreat,0.618415333719,9.08091955285e-05,1.04003221777,0.5889857842,0.0087625483206,1.03970034461
+298,4.966666667,pose2_to_pose3_retreat,0.618154055228,9.08300948032e-05,1.0400321263,0.588724504337,0.00876256481527,1.03970026563
+299,4.983333333,pose2_to_pose3_retreat,0.617873134339,9.07525790118e-05,1.04003222809,0.588443584245,0.00876248982701,1.03970036728
+300,5.000000000,pose2_to_pose3_retreat,0.617568912632,9.07137681401e-05,1.04003237687,0.588139363947,0.0087624551623,1.03970050612
+301,5.016666667,pose2_to_pose3_retreat,0.617243025851,9.06572291556e-05,1.04003243612,0.587813477991,0.00876240058465,1.03970055119
+302,5.033333333,pose2_to_pose3_retreat,0.616895750696,9.07227546777e-05,1.04003230684,0.587466202516,0.00876246509788,1.03970042879
+303,5.050000000,pose2_to_pose3_retreat,0.616531547011,9.08005611271e-05,1.04003214118,0.587101997973,0.00876254021513,1.03970027541
+304,5.066666667,pose2_to_pose3_retreat,0.616152116635,9.08536493681e-05,1.04003218782,0.586722566693,0.00876259002198,1.03970032294
+305,5.083333333,pose2_to_pose3_retreat,0.615754781483,9.08503585782e-05,1.04003236535,0.586325230935,0.0087625842851,1.03970049793
+306,5.100000000,pose2_to_pose3_retreat,0.615337717923,9.08215287749e-05,1.0400324536,0.585908167935,0.00876255700182,1.03970058395
+307,5.116666667,pose2_to_pose3_retreat,0.614894093321,9.07861089958e-05,1.04003237781,0.585464544755,0.0087625261662,1.03970050725
+308,5.133333333,pose2_to_pose3_retreat,0.61442378458,9.06974500437e-05,1.04003234202,0.584994235992,0.00876243730612,1.039700476
+309,5.150000000,pose2_to_pose3_retreat,0.613925751528,9.06248591862e-05,1.04003220745,0.584496203063,0.00876236502553,1.03970034607
+310,5.166666667,pose2_to_pose3_retreat,0.613411348725,9.0732418029e-05,1.04003235718,0.583981801078,0.00876247479549,1.03970048859
+311,5.183333333,pose2_to_pose3_retreat,0.612884625324,9.06893537079e-05,1.04003242994,0.583455076972,0.0087624285727,1.0397005467
+312,5.200000000,pose2_to_pose3_retreat,0.612349296829,9.06918134661e-05,1.04003232021,0.582919749856,0.00876243598006,1.03970044534
+313,5.216666667,pose2_to_pose3_retreat,0.611800352097,9.07289626518e-05,1.04003223926,0.582370805862,0.00876247596273,1.03970037268
+314,5.233333333,pose2_to_pose3_retreat,0.611219475868,9.07893434832e-05,1.04003231793,0.581789928604,0.0087625328813,1.03970045149
+315,5.250000000,pose2_to_pose3_retreat,0.61060360801,9.08218484802e-05,1.04003242886,0.581174059451,0.00876256096374,1.03970056116
+316,5.266666667,pose2_to_pose3_retreat,0.60995023835,9.07018234453e-05,1.0400322668,0.580520690493,0.00876244320227,1.03970039721
+317,5.283333333,pose2_to_pose3_retreat,0.609270738716,9.0636387416e-05,1.04003235891,0.57984119251,0.00876238351367,1.03970049328
+318,5.300000000,pose2_to_pose3_retreat,0.608572557406,9.0653076695e-05,1.04003234521,0.57914301172,0.00876240214598,1.03970048465
+319,5.316666667,pose2_to_pose3_retreat,0.607864307853,9.08441828455e-05,1.04003233607,0.578434759352,0.00876258365333,1.03970047459
+320,5.333333333,pose2_to_pose3_retreat,0.607146058715,9.07613491159e-05,1.04003223052,0.577716510579,0.00876250214781,1.03970037079
+321,5.350000000,pose2_to_pose3_retreat,0.606417665667,9.09112425559e-05,1.04003231336,0.576988116284,0.00876264766686,1.03970045096
+322,5.366666667,pose2_to_pose3_retreat,0.605677817096,9.0892612802e-05,1.0400323486,0.576248268028,0.00876263003661,1.03970048372
+323,5.383333333,pose2_to_pose3_retreat,0.604927453327,9.08732101135e-05,1.04003219269,0.575497905033,0.00876261352569,1.03970033409
+324,5.400000000,pose2_to_pose3_retreat,0.604168061902,9.07721180431e-05,1.0400320335,0.574738514575,0.0087625156761,1.03970017458
+325,5.416666667,pose2_to_pose3_retreat,0.603399075233,9.06344550353e-05,1.04003212616,0.573969528641,0.0087623801984,1.03970025998
+326,5.433333333,pose2_to_pose3_retreat,0.60262266417,9.06394997331e-05,1.04003231958,0.573193117381,0.0087623846275,1.03970045453
+327,5.450000000,pose2_to_pose3_retreat,0.601833707981,9.06794672839e-05,1.04003225446,0.572404160831,0.00876242355481,1.0397003935
+328,5.466666667,pose2_to_pose3_retreat,0.601027268347,9.07613912266e-05,1.04003247334,0.571597720851,0.00876250410243,1.03970060625
+329,5.483333333,pose2_to_pose3_retreat,0.60021638548,9.08341133863e-05,1.04003239217,0.570786837221,0.00876257399416,1.03970051864
+330,5.500000000,pose2_to_pose3_retreat,0.599404044361,9.06991318698e-05,1.04003236338,0.569974496669,0.00876244100237,1.03970049359
+331,5.516666667,pose2_to_pose3_retreat,0.598603212958,9.07532027025e-05,1.04003203853,0.56917366501,0.00876249463361,1.03970017705
+332,5.533333333,pose2_to_pose3_retreat,0.597814859131,9.07567293877e-05,1.04003194929,0.568385310752,0.00876249686475,1.03970009379
+333,5.550000000,pose2_to_pose3_retreat,0.597035028664,9.07117533936e-05,1.04003208323,0.567605481064,0.00876245458391,1.03970022889
+334,5.566666667,pose2_to_pose3_retreat,0.596253380638,9.07318418486e-05,1.04003221824,0.566823832792,0.00876247353857,1.03970035544
+335,5.583333333,pose2_to_pose3_retreat,0.595462044576,9.07802995574e-05,1.04003234795,0.566032496206,0.00876251990531,1.03970047681
+336,5.600000000,pose2_to_pose3_retreat,0.594663661934,9.07816160969e-05,1.04003247244,0.565234114316,0.00876252375705,1.03970060085
+337,5.616666667,pose2_to_pose3_retreat,0.593863064461,9.08102832886e-05,1.04003240122,0.564433516505,0.00876255115695,1.0397005265
+338,5.633333333,pose2_to_pose3_retreat,0.593064283803,9.08035617078e-05,1.04003237325,0.563634734872,0.00876254124095,1.03970050158
+339,5.650000000,pose2_to_pose3_retreat,0.592278351984,9.06322496955e-05,1.04003224454,0.562848805283,0.00876237760575,1.03970037697
+340,5.666666667,pose2_to_pose3_retreat,0.59151759861,9.08205562918e-05,1.04003208208,0.562088047679,0.00876255206519,1.03970022517
+341,5.683333333,pose2_to_pose3_retreat,0.590770544237,9.0764818715e-05,1.04003221737,0.5613409965,0.0087625068322,1.03970035126
+342,5.700000000,pose2_to_pose3_retreat,0.590036059481,9.08871927702e-05,1.04003242411,0.560606509301,0.00876262080354,1.0397005549
+343,5.716666667,pose2_to_pose3_retreat,0.589317180022,9.08340748785e-05,1.04003243279,0.55988762988,0.00876256760717,1.03970055997
+344,5.733333333,pose2_to_pose3_retreat,0.588610974814,9.07663217246e-05,1.04003235152,0.559181426635,0.00876250678361,1.03970048643
+345,5.750000000,pose2_to_pose3_retreat,0.587912170863,9.07490033561e-05,1.04003232979,0.558482623485,0.00876249243261,1.03970047023
+346,5.766666667,pose2_to_pose3_retreat,0.58722390527,9.07521556851e-05,1.04003232529,0.557794356983,0.00876249226468,1.03970045863
+347,5.783333333,pose2_to_pose3_retreat,0.586552143736,9.08197164394e-05,1.0400322263,0.557122594778,0.0087625576452,1.03970036195
+348,5.800000000,pose2_to_pose3_retreat,0.585894813039,9.07834242073e-05,1.0400322195,0.556465264979,0.00876252474799,1.03970036431
+349,5.816666667,pose2_to_pose3_retreat,0.585251325622,9.07164654243e-05,1.04003252302,0.555821778046,0.00876245855625,1.03970064485
+350,5.833333333,pose2_to_pose3_retreat,0.584633704985,9.07872601166e-05,1.04003233903,0.555204155861,0.00876252475116,1.03970047794
+351,5.850000000,pose2_to_pose3_retreat,0.584038545446,9.0725985414e-05,1.04003236155,0.554608998038,0.00876246906075,1.03970049429
+352,5.866666667,pose2_to_pose3_retreat,0.583465961554,9.07193827939e-05,1.04003238176,0.554036413441,0.00876245990982,1.03970051024
+353,5.883333333,pose2_to_pose3_retreat,0.582920018195,9.07830955924e-05,1.0400322941,0.553490470266,0.00876252434855,1.03970042519
+354,5.900000000,pose2_to_pose3_retreat,0.582402810677,9.07580295119e-05,1.04003229648,0.5529732632,0.00876250090554,1.03970042991
+355,5.916666667,pose2_to_pose3_retreat,0.581899124227,9.06441791511e-05,1.04003231904,0.552469577428,0.0087623893,1.03970045089
+356,5.933333333,pose2_to_pose3_retreat,0.581406079319,9.06640920496e-05,1.04003224485,0.551976532529,0.00876240922424,1.03970037632
+357,5.950000000,pose2_to_pose3_retreat,0.58092770938,9.08662614817e-05,1.04003216565,0.551498160503,0.00876260458129,1.03970030436
+358,5.966666667,pose2_to_pose3_retreat,0.580466282585,9.06606937436e-05,1.04003198213,0.551036735101,0.00876240379693,1.03970012303
+359,5.983333333,pose2_to_pose3_retreat,0.580025998364,9.07504561035e-05,1.04003216339,0.550596450871,0.00876249296639,1.03970028952
+360,6.000000000,pose2_to_pose3_retreat,0.579618941806,9.06973838872e-05,1.04003222941,0.550189392851,0.00876243523128,1.03970036342
+361,6.016666667,pose2_to_pose3_retreat,0.579248638617,9.07668204316e-05,1.04003222957,0.549819090596,0.0087625079019,1.03970036464
+362,6.033333333,pose2_to_pose3_retreat,0.578907392254,9.06812429693e-05,1.04003230852,0.549477844509,0.00876242333653,1.03970044526
+363,6.050000000,pose2_to_pose3_retreat,0.578591253078,9.07412328348e-05,1.04003237138,0.549161705287,0.0087624829363,1.03970050227
+364,6.066666667,pose2_to_pose3_retreat,0.578294250864,9.08045392177e-05,1.04003239967,0.548864702783,0.00876254501782,1.03970052446
+365,6.083333333,pose2_to_pose3_retreat,0.578009912484,9.07570414772e-05,1.04003236105,0.548580364315,0.00876249717942,1.03970048462
+366,6.100000000,pose2_to_pose3_retreat,0.577736603859,9.06834686915e-05,1.04003223228,0.548307055916,0.00876242456569,1.0397003609
+367,6.116666667,pose2_to_pose3_retreat,0.577476018388,9.07681327528e-05,1.0400321248,0.548046469898,0.00876250770418,1.03970026218
+368,6.133333333,pose2_to_pose3_retreat,0.577230121166,9.08281055951e-05,1.04003225055,0.5478005716,0.00876256395549,1.03970038605
+369,6.150000000,pose2_to_pose3_retreat,0.577008554559,9.09861660352e-05,1.04003237312,0.547579003882,0.00876271812537,1.03970050546
+370,6.166666667,pose2_to_pose3_retreat,0.576810835731,9.09696466439e-05,1.04003233838,0.547381285079,0.0087627018387,1.03970047454
+371,6.183333333,pose2_to_pose3_retreat,0.576638440244,9.0915952336e-05,1.04003227167,0.54720888984,0.00876264861891,1.03970039852
+372,6.200000000,pose2_to_pose3_retreat,0.576488547674,9.08206244476e-05,1.04003237037,0.54705899889,0.00876255889509,1.03970049986
+373,6.216666667,pose2_to_pose3_retreat,0.57636090489,9.07976336536e-05,1.04003234244,0.54693135628,0.00876253680281,1.03970048007
+374,6.233333333,pose2_to_pose3_retreat,0.576248148716,9.08088021929e-05,1.04003218298,0.546818598821,0.00876254367467,1.03970032229
+375,6.250000000,pose2_to_pose3_retreat,0.576148838319,9.07951228916e-05,1.0400321713,0.546719288705,0.00876253080766,1.03970030733
+376,6.266666667,pose2_to_pose3_retreat,0.576061389074,9.08249458877e-05,1.04003219901,0.546631840325,0.00876256345862,1.03970033268
+377,6.283333333,pose2_to_pose3_retreat,0.575983988618,9.0895995553e-05,1.04003217416,0.546554439507,0.00876263325931,1.03970030726
+378,6.300000000,pose2_to_pose3_retreat,0.575916631744,9.07982289808e-05,1.04003240983,0.546487082499,0.00876253477627,1.03970053595
+379,6.316666667,pose2_to_pose3_retreat,0.575859821208,9.08036119372e-05,1.04003251136,0.546430272008,0.00876254026184,1.0397006362
+380,6.333333333,pose2_to_pose3_retreat,0.57581364667,9.07236709477e-05,1.04003215652,0.546384098042,0.00876246261761,1.03970029058
+381,6.350000000,pose2_to_pose3_retreat,0.575776589549,9.06495656801e-05,1.04003218821,0.546347042872,0.00876239528419,1.0397003262
+382,6.366666667,pose2_to_pose3_retreat,0.575747279651,9.06851519675e-05,1.04003230911,0.54631773231,0.00876242845281,1.03970044288
+383,6.383333333,pose2_to_pose3_retreat,0.575724702992,9.0718323632e-05,1.04003232368,0.546295154777,0.00876245855059,1.0397004547
+384,6.400000000,pose2_to_pose3_retreat,0.57570675879,9.07100081685e-05,1.04003229324,0.546277210769,0.00876245086434,1.03970042362
+385,6.416666667,pose2_to_pose3_retreat,0.57569298641,9.07328486415e-05,1.04003252049,0.546263438662,0.00876247426467,1.03970064136
+386,6.433333333,pose2_to_pose3_retreat,0.575683039626,9.07525313615e-05,1.04003240636,0.546253492573,0.00876249652143,1.03970053306
+387,6.450000000,pose2_to_pose3_retreat,0.575676475203,9.08327310097e-05,1.04003229279,0.546246926694,0.00876257201045,1.03970042521
+388,6.466666667,pose2_to_pose3_retreat,0.575672208934,9.08736717897e-05,1.04003221189,0.546242659404,0.00876260957669,1.03970034627
+389,6.483333333,pose2_to_pose3_retreat,0.575669727034,9.07815992824e-05,1.04003217898,0.546240178965,0.00876252221479,1.03970030702
+390,6.500000000,pose2_to_pose3_retreat,0.575668439902,9.07338498009e-05,1.04003216192,0.546238892591,0.00876247690826,1.03970028667
+391,6.516666667,pose2_to_pose3_retreat,0.575667811681,9.07362489209e-05,1.04003222376,0.546238263956,0.00876247794778,1.03970034968
+392,6.533333333,pose2_to_pose3_retreat,0.575667667103,9.07385207528e-05,1.04003224269,0.54623811923,0.00876247973599,1.03970036906
+393,6.550000000,pose2_to_pose3_retreat,0.57566751916,9.07408454536e-05,1.04003226206,0.546237971136,0.0087624815658,1.03970038889
+394,6.566666667,pose2_to_pose3_retreat,0.575667359036,9.07433615676e-05,1.04003228302,0.546237810848,0.00876248354629,1.03970041036
+395,6.583333333,pose2_to_pose3_retreat,0.575667251754,9.07450473463e-05,1.04003229706,0.546237703457,0.0087624848732,1.03970042474
+396,6.600000000,pose2_to_pose3_retreat,0.575667126668,9.07470128839e-05,1.04003231344,0.546237578243,0.00876248642031,1.03970044151
+397,6.616666667,pose2_to_pose3_retreat,0.575667058864,9.07480783216e-05,1.04003232232,0.54623751037,0.00876248725894,1.03970045059
+398,6.633333333,pose2_to_pose3_retreat,0.575666904971,9.07504965254e-05,1.04003234246,0.54623735632,0.00876248916235,1.03970047122
+399,6.650000000,pose2_to_pose3_retreat,0.575666607138,9.07551765343e-05,1.04003238145,0.546237058182,0.00876249284608,1.03970051115
+400,6.666666667,pose2_to_pose3_retreat,0.575666456549,9.07575428087e-05,1.04003240117,0.54623690744,0.00876249470862,1.03970053134
+401,6.683333333,pose2_to_pose3_retreat,0.575666106104,9.07630495476e-05,1.04003244705,0.546236556636,0.00876249904308,1.03970057831
+402,6.700000000,pose2_to_pose3_retreat,0.57566590505,9.0766208806e-05,1.04003247337,0.546236355377,0.0087625015298,1.03970060527
+403,6.716666667,pose2_to_pose3_retreat,0.575665730419,9.07581637864e-05,1.04003244068,0.54623618104,0.00876249448962,1.03970057272
+404,6.733333333,pose2_to_pose3_retreat,0.57566550674,9.07368175531e-05,1.04003234195,0.546235958223,0.00876247605666,1.03970047377
+405,6.750000000,pose2_to_pose3_retreat,0.575665456166,9.07319911409e-05,1.04003231963,0.546235907844,0.00876247188895,1.03970045139
+406,6.766666667,pose2_to_pose3_retreat,0.575665408918,9.0727482091e-05,1.04003229878,0.546235860777,0.00876246799528,1.03970043049
+407,6.783333333,pose2_to_pose3_retreat,0.575665301214,9.07172036393e-05,1.04003225124,0.546235753488,0.0087624591196,1.03970038284
+408,6.800000000,pose2_to_pose3_retreat,0.575665251687,9.07124771161e-05,1.04003222938,0.546235704152,0.00876245503814,1.03970036093
+409,6.816666667,pose2_to_pose3_retreat,0.575665017085,9.06900883848e-05,1.04003212583,0.546235470453,0.00876243570496,1.03970025715
+410,6.833333333,pose2_to_pose3_retreat,0.575664764746,9.0666006931e-05,1.04003201446,0.546235219085,0.00876241491007,1.03970014551
+411,6.850000000,pose2_to_pose3_retreat,0.575664617997,9.06944456933e-05,1.04003208611,0.546235071084,0.00876243916289,1.03970021881
+412,6.866666667,pose2_to_pose3_retreat,0.575664594469,9.06998300609e-05,1.04003210025,0.54623504732,0.00876244375764,1.03970023324
+413,6.883333333,pose2_to_pose3_retreat,0.575664494252,9.07227650159e-05,1.04003216047,0.546234946098,0.00876246332919,1.03970029474
+414,6.900000000,pose2_to_pose3_retreat,0.575664419501,9.07398718073e-05,1.0400322054,0.546234870597,0.00876247792727,1.03970034061
+415,6.916666667,pose2_to_pose3_retreat,0.575664357726,9.07697033427e-05,1.0400323148,0.54623480943,0.00876250971744,1.03970044729
+416,6.933333333,pose2_to_pose3_retreat,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787087,0.00876252613233,1.03970050298

Part2/Obstacle_avoidance/cylinder_0050_17.5/position_02/depth_05/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d1df317dfc47b9c3fbf7cc10318f5c5c2743496d56fd4abc3763a05c6a02ada
+size 26645151

Part2/Obstacle_avoidance/cylinder_0050_17.5/position_02/depth_05/simulation_data.csv

@@ -0,0 +1,420 @@
+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,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+1,0.016666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+2,0.033333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+3,0.050000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+4,0.066666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+5,0.083333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+6,0.100000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+7,0.116666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+8,0.133333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+9,0.150000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+10,0.166666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+11,0.183333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+12,0.200000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+13,0.216666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+14,0.233333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+15,0.250000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+16,0.266666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+17,0.283333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+18,0.300000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+19,0.316666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+20,0.333333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+21,0.350000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+22,0.366666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+23,0.383333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+24,0.400000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+25,0.416666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+26,0.433333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+27,0.450000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+28,0.466666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+29,0.483333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+30,0.500000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+31,0.516666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+32,0.533333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+33,0.550000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+34,0.566666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+35,0.583333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+36,0.600000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+37,0.616666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+38,0.633333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+39,0.650000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+40,0.666666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+41,0.683333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+42,0.700000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+43,0.716666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+44,0.733333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+45,0.750000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+46,0.766666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+47,0.783333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+48,0.800000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+49,0.816666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+50,0.833333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+51,0.850000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+52,0.866666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+53,0.883333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+54,0.900000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+55,0.916666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+56,0.933333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+57,0.950000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+58,0.966666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+59,0.983333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+60,1.000000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+61,1.016666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+62,1.033333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+63,1.050000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+64,1.066666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+65,1.083333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+66,1.100000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+67,1.116666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+68,1.133333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+69,1.150000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+70,1.166666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+71,1.183333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+72,1.200000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+73,1.216666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+74,1.233333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+75,1.250000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+76,1.266666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+77,1.283333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+78,1.300000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+79,1.316666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+80,1.333333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+81,1.350000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+82,1.366666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+83,1.383333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+84,1.400000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+85,1.416666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+86,1.433333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+87,1.450000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+88,1.466666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+89,1.483333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+90,1.500000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+91,1.516666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+92,1.533333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+93,1.550000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+94,1.566666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+95,1.583333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+96,1.600000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+97,1.616666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+98,1.633333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+99,1.650000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+100,1.666666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+101,1.683333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+102,1.700000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+103,1.716666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+104,1.733333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+105,1.750000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+106,1.766666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+107,1.783333333,pose1_to_pose2_press,0.57566436402,9.07680344871e-05,1.0400323585,0.546234816401,0.00876251030681,1.03970048994
+108,1.800000000,pose1_to_pose2_press,0.57566439799,9.07899380761e-05,1.04003228069,0.546234849448,0.00876252918707,1.03970041504
+109,1.816666667,pose1_to_pose2_press,0.575664472424,9.07976865588e-05,1.04003221025,0.546234923336,0.00876253515447,1.03970034639
+110,1.833333333,pose1_to_pose2_press,0.575664535131,9.07844074084e-05,1.04003220014,0.546234986312,0.00876252275855,1.03970033554
+111,1.850000000,pose1_to_pose2_press,0.575664537444,9.07839175792e-05,1.04003219977,0.546234988635,0.0087625223013,1.03970033514
+112,1.866666667,pose1_to_pose2_press,0.575664647921,9.07605226299e-05,1.04003218197,0.546235099585,0.00876250046242,1.03970031603
+113,1.883333333,pose1_to_pose2_press,0.575664899377,9.07072732075e-05,1.04003214145,0.546235352118,0.00876245075476,1.03970027251
+114,1.900000000,pose1_to_pose2_press,0.575665524659,9.07606120731e-05,1.04003227888,0.546235977255,0.00876250363737,1.03970041094
+115,1.916666667,pose1_to_pose2_press,0.575667242991,9.08153852237e-05,1.04003237739,0.546237694632,0.00876255525923,1.03970051183
+116,1.933333333,pose1_to_pose2_press,0.575672581996,9.07753785891e-05,1.04003231271,0.546243033104,0.00876251353407,1.03970044951
+117,1.950000000,pose1_to_pose2_press,0.575683416316,9.0669249911e-05,1.04003222051,0.546253869731,0.00876241541197,1.03970036187
+118,1.966666667,pose1_to_pose2_press,0.575704488914,9.08419450906e-05,1.04003227449,0.546274940312,0.00876258099305,1.03970040872
+119,1.983333333,pose1_to_pose2_press,0.575736408991,9.07599689951e-05,1.04003255918,0.546306861135,0.00876250132709,1.03970068752
+120,2.000000000,pose1_to_pose2_press,0.575779904023,9.0789583926e-05,1.04003222844,0.546350354644,0.00876252598985,1.03970036243
+121,2.016666667,pose1_to_pose2_press,0.575833103147,9.07216488214e-05,1.04003205555,0.54640355429,0.00876245979302,1.03970018859
+122,2.033333333,pose1_to_pose2_press,0.575895238396,9.06602391271e-05,1.04003243632,0.546465691757,0.008762405786,1.03970056592
+123,2.050000000,pose1_to_pose2_press,0.575963579483,9.07522325161e-05,1.04003225838,0.546534032064,0.00876249530864,1.0397003926
+124,2.066666667,pose1_to_pose2_press,0.576038223229,9.07784968602e-05,1.0400324704,0.546608675715,0.00876252094566,1.03970059656
+125,2.083333333,pose1_to_pose2_press,0.57612283995,9.07959549316e-05,1.04003235223,0.546693290939,0.00876253395897,1.03970049498
+126,2.100000000,pose1_to_pose2_press,0.576218648997,9.07844477455e-05,1.04003233958,0.546789099671,0.00876252120597,1.03970047764
+127,2.116666667,pose1_to_pose2_press,0.576328613174,9.07554674566e-05,1.04003223375,0.546899064889,0.00876249556406,1.03970036671
+128,2.133333333,pose1_to_pose2_press,0.576452615238,9.07624671053e-05,1.04003216084,0.547023067521,0.0087625046329,1.03970029746
+129,2.150000000,pose1_to_pose2_press,0.576591147821,9.07639331137e-05,1.04003226066,0.547161600174,0.00876250643298,1.03970039977
+130,2.166666667,pose1_to_pose2_press,0.576744740834,9.07171101204e-05,1.04003234857,0.54731519387,0.00876246181038,1.03970048461
+131,2.183333333,pose1_to_pose2_press,0.576914369381,9.07667415924e-05,1.04003238282,0.547484821801,0.00876250901919,1.0397005101
+132,2.200000000,pose1_to_pose2_press,0.577104731456,9.09592024431e-05,1.0400323874,0.54767517996,0.00876268819024,1.03970051457
+133,2.216666667,pose1_to_pose2_press,0.577316780221,9.0826170912e-05,1.04003237337,0.547887232113,0.00876256677318,1.03970050358
+134,2.233333333,pose1_to_pose2_press,0.577553121332,9.06914186688e-05,1.04003241081,0.548123573259,0.00876243183821,1.03970053299
+135,2.250000000,pose1_to_pose2_press,0.577810907285,9.07610340022e-05,1.04003227742,0.548381358542,0.00876249930261,1.03970040273
+136,2.266666667,pose1_to_pose2_press,0.578088871828,9.07440622167e-05,1.04003198788,0.548659323231,0.00876248340229,1.03970012825
+137,2.283333333,pose1_to_pose2_press,0.578386611424,9.0747467564e-05,1.04003234019,0.54895706281,0.00876248628973,1.03970046849
+138,2.300000000,pose1_to_pose2_press,0.578702830189,9.07478903828e-05,1.04003222849,0.549273282265,0.00876248954418,1.03970036956
+139,2.316666667,pose1_to_pose2_press,0.579037950411,9.07927244742e-05,1.04003221756,0.549608402563,0.00876253450418,1.03970035507
+140,2.333333333,pose1_to_pose2_press,0.579387913981,9.07237499342e-05,1.04003237609,0.549958367179,0.00876246910197,1.03970051414
+141,2.350000000,pose1_to_pose2_press,0.579750071522,9.0707451425e-05,1.04003232974,0.550320524105,0.0087624505943,1.03970046452
+142,2.366666667,pose1_to_pose2_press,0.580128837616,9.07619723093e-05,1.04003229112,0.550699289503,0.00876250269142,1.03970042416
+143,2.383333333,pose1_to_pose2_press,0.58052682318,9.07427981732e-05,1.04003223175,0.551097275554,0.0087624852258,1.03970036629
+144,2.400000000,pose1_to_pose2_press,0.580951635852,9.0663546828e-05,1.04003207134,0.551522088176,0.00876240566082,1.03970020203
+145,2.416666667,pose1_to_pose2_press,0.581407311764,9.08098881686e-05,1.04003226649,0.55197776217,0.00876254531903,1.03970039254
+146,2.433333333,pose1_to_pose2_press,0.581902995626,9.09374092902e-05,1.04003220989,0.55247344558,0.00876267186601,1.03970035054
+147,2.450000000,pose1_to_pose2_press,0.582424943153,9.07150718299e-05,1.04003225548,0.552995394995,0.00876245560336,1.03970038741
+148,2.466666667,pose1_to_pose2_press,0.582968254643,9.07676993538e-05,1.04003223564,0.553538705628,0.0087625054639,1.03970037122
+149,2.483333333,pose1_to_pose2_press,0.583519006444,9.07432807171e-05,1.04003236812,0.554089458389,0.00876248418461,1.03970050048
+150,2.500000000,pose1_to_pose2_press,0.584076407281,9.06518025337e-05,1.04003237155,0.55464685994,0.00876239505532,1.03970050194
+151,2.516666667,pose1_to_pose2_press,0.5846415029,9.07512483462e-05,1.04003227476,0.555211955245,0.00876249346912,1.03970040603
+152,2.533333333,pose1_to_pose2_press,0.585225364658,9.07651156239e-05,1.04003252757,0.555795816918,0.0087625069216,1.03970065547
+153,2.550000000,pose1_to_pose2_press,0.585840451811,9.07599023006e-05,1.04003241488,0.556410903701,0.00876250021706,1.03970053657
+154,2.566666667,pose1_to_pose2_press,0.586479031834,9.08845536562e-05,1.04003218584,0.557049482472,0.00876262090727,1.03970031501
+155,2.583333333,pose1_to_pose2_press,0.587135280735,9.08757114364e-05,1.0400323068,0.55770573014,0.00876260802744,1.03970043983
+156,2.600000000,pose1_to_pose2_press,0.587808133546,9.07335063957e-05,1.04003243057,0.558378584549,0.00876247128202,1.0397005645
+157,2.616666667,pose1_to_pose2_press,0.588491458001,9.07486406152e-05,1.04003239905,0.55906190999,0.00876248986225,1.03970053557
+158,2.633333333,pose1_to_pose2_press,0.58918169849,9.08174754812e-05,1.04003240198,0.559752148786,0.00876255260486,1.03970052942
+159,2.650000000,pose1_to_pose2_press,0.589891673752,9.06951585787e-05,1.0400322059,0.560462125877,0.0087624361804,1.03970032515
+160,2.666666667,pose1_to_pose2_press,0.590627721882,9.07519249606e-05,1.04003229057,0.561198172451,0.00876248813294,1.03970042197
+161,2.683333333,pose1_to_pose2_press,0.591371429024,9.07603851459e-05,1.04003246842,0.561941878952,0.00876249430862,1.03970059696
+162,2.700000000,pose1_to_pose2_press,0.59212005907,9.07721909031e-05,1.04003208881,0.562690511531,0.00876251530013,1.03970023275
+163,2.716666667,pose1_to_pose2_press,0.592884538536,9.07069438056e-05,1.04003224325,0.563454991967,0.00876245295787,1.03970037712
+164,2.733333333,pose1_to_pose2_press,0.593657723268,9.06814332522e-05,1.04003231791,0.564228175975,0.00876242521456,1.03970045758
+165,2.750000000,pose1_to_pose2_press,0.594431009737,9.08349617004e-05,1.04003244747,0.565001460492,0.0087625719525,1.03970058287
+166,2.766666667,pose1_to_pose2_press,0.595214754288,9.06302233041e-05,1.04003239756,0.56578520716,0.00876237420261,1.03970052785
+167,2.783333333,pose1_to_pose2_press,0.5960080303,9.069127748e-05,1.04003230875,0.566578483398,0.00876243585352,1.0397004346
+168,2.800000000,pose1_to_pose2_press,0.596799513534,9.06945689774e-05,1.04003224485,0.567369965614,0.00876243590516,1.03970037641
+169,2.816666667,pose1_to_pose2_press,0.59759094191,9.06842162182e-05,1.04003232486,0.568161394815,0.00876242825347,1.03970045379
+170,2.833333333,pose1_to_pose2_press,0.598379766537,9.0807108472e-05,1.04003237165,0.568950218511,0.00876254804017,1.0397005021
+171,2.850000000,pose1_to_pose2_press,0.599166169687,9.08479839352e-05,1.04003229195,0.569736620235,0.00876258432662,1.03970042905
+172,2.866666667,pose1_to_pose2_press,0.599950504941,9.07670961703e-05,1.04003214375,0.570520955944,0.00876250497846,1.03970028068
+173,2.883333333,pose1_to_pose2_press,0.600732479215,9.08512970501e-05,1.04003204482,0.571302929247,0.00876258588779,1.03970018201
+174,2.900000000,pose1_to_pose2_press,0.601515863314,9.09403489261e-05,1.04003227803,0.572086313179,0.00876267431003,1.03970041354
+175,2.916666667,pose1_to_pose2_press,0.602295996203,9.07775372686e-05,1.04003246945,0.572866448033,0.00876251805309,1.03970060205
+176,2.933333333,pose1_to_pose2_press,0.603074155595,9.08408784097e-05,1.04003241095,0.573644606157,0.00876257666175,1.03970053242
+177,2.950000000,pose1_to_pose2_press,0.60385287726,9.07001768438e-05,1.04003235102,0.574423330147,0.00876244431637,1.03970048473
+178,2.966666667,pose1_to_pose2_press,0.604623219016,9.0718107035e-05,1.04003222651,0.575193672299,0.00876246374825,1.03970036441
+179,2.983333333,pose1_to_pose2_press,0.605382879494,9.08114589355e-05,1.040032445,0.575953330755,0.00876255008324,1.03970057896
+180,3.000000000,pose1_to_pose2_press,0.606128631821,9.08136762436e-05,1.04003220147,0.576699082705,0.00876255090517,1.03970033253
+181,3.016666667,pose1_to_pose2_press,0.606858691954,9.08107851385e-05,1.04003221569,0.577429141408,0.00876254314448,1.03970034637
+182,3.033333333,pose1_to_pose2_press,0.607577829372,9.09361343346e-05,1.04003237493,0.57814827872,0.00876266842731,1.03970051333
+183,3.050000000,pose1_to_pose2_press,0.608286231307,9.09034143051e-05,1.04003240512,0.578856682577,0.00876264213788,1.03970054121
+184,3.066666667,pose1_to_pose2_press,0.608982919135,9.07825007827e-05,1.04003231181,0.57955337122,0.00876252380767,1.03970044326
+185,3.083333333,pose1_to_pose2_press,0.609672233851,9.07896245037e-05,1.04003223499,0.580242684366,0.00876252571409,1.03970036939
+186,3.100000000,pose1_to_pose2_press,0.610349491075,9.07719073313e-05,1.04003233718,0.580919942055,0.00876250954665,1.03970047091
+187,3.116666667,pose1_to_pose2_press,0.611001615022,9.07292867234e-05,1.04003245301,0.581572067818,0.00876247295792,1.03970058341
+188,3.133333333,pose1_to_pose2_press,0.611629213024,9.08403028456e-05,1.0400323244,0.582199664518,0.0087625796706,1.03970045856
+189,3.150000000,pose1_to_pose2_press,0.612231668253,9.08053995387e-05,1.04003226679,0.58280212031,0.00876254664795,1.03970040079
+190,3.166666667,pose1_to_pose2_press,0.612813357132,9.07949636046e-05,1.04003233957,0.583383809172,0.00876253641119,1.03970047615
+191,3.183333333,pose1_to_pose2_press,0.613372754514,9.07382690793e-05,1.04003239097,0.583943206013,0.00876247763511,1.03970051676
+192,3.200000000,pose1_to_pose2_press,0.61390590353,9.07935662544e-05,1.04003223249,0.584476354212,0.00876253081301,1.03970036898
+193,3.216666667,pose1_to_pose2_press,0.61441163369,9.08108601856e-05,1.04003222274,0.584982086153,0.00876255445178,1.03970035937
+194,3.233333333,pose1_to_pose2_press,0.614894039175,9.07568568332e-05,1.04003228384,0.585464492783,0.00876250483002,1.0397004257
+195,3.250000000,pose1_to_pose2_press,0.615359740256,9.08577595577e-05,1.04003235893,0.585930191238,0.00876259680633,1.03970049261
+196,3.266666667,pose1_to_pose2_press,0.615814056792,9.08974654532e-05,1.04003220003,0.586384506437,0.00876263220639,1.03970033237
+197,3.283333333,pose1_to_pose2_press,0.616257404619,9.08271855872e-05,1.04003217039,0.58682785526,0.00876256587423,1.03970030679
+198,3.300000000,pose1_to_pose2_press,0.616686777921,9.08009638104e-05,1.04003241736,0.587257228762,0.00876254057034,1.03970054872
+199,3.316666667,pose1_to_pose2_press,0.617089778192,9.07923782498e-05,1.04003223442,0.587660229258,0.00876253290697,1.03970036819
+200,3.333333333,pose1_to_pose2_press,0.617465308513,9.08830826433e-05,1.04003222222,0.588035758417,0.00876261992627,1.03970035767
+201,3.350000000,pose1_to_pose2_press,0.617811985472,9.07673770145e-05,1.04003207657,0.588382436406,0.00876250829551,1.03970022021
+202,3.366666667,pose1_to_pose2_press,0.618136633717,9.06715740786e-05,1.04003244372,0.58870708501,0.00876241348302,1.03970057398
+203,3.383333333,pose1_to_pose2_press,0.618441822314,9.07213246993e-05,1.04003220699,0.589012272972,0.00876246149212,1.0397003421
+204,3.400000000,pose1_to_pose2_press,0.618737564527,9.08267030924e-05,1.0400320463,0.589308013049,0.00876255977203,1.03970017927
+205,3.416666667,pose1_to_pose2_press,0.619025049861,9.06879396767e-05,1.04003214107,0.589595501214,0.00876243077759,1.03970027158
+206,3.433333333,pose1_to_pose2_press,0.619295058334,9.06142166929e-05,1.04003216895,0.589865511651,0.00876236413917,1.03970030463
+207,3.450000000,pose1_to_pose2_press,0.619547436257,9.07387778191e-05,1.0400321053,0.590117887442,0.00876248173478,1.03970024327
+208,3.466666667,pose1_to_pose2_press,0.619779680288,9.08166794153e-05,1.04003216008,0.590350129382,0.00876255262056,1.03970029598
+209,3.483333333,pose1_to_pose2_press,0.619989637605,9.09048936343e-05,1.04003227496,0.590560085745,0.00876263768602,1.0397004089
+210,3.500000000,pose1_to_pose2_press,0.620176018643,9.09077883475e-05,1.04003236482,0.590746468908,0.00876264768597,1.03970049037
+211,3.516666667,pose1_to_pose2_press,0.620346292781,9.0642747071e-05,1.04003224977,0.590916743829,0.00876238560905,1.03970037884
+212,3.533333333,pose1_to_pose2_press,0.620501006729,9.07386889302e-05,1.04003221486,0.591071457154,0.00876247997324,1.03970035406
+213,3.550000000,pose1_to_pose2_press,0.620640815536,9.09033280547e-05,1.04003233713,0.591211263748,0.00876263714819,1.03970047601
+214,3.566666667,pose1_to_pose2_press,0.62076612281,9.09224867769e-05,1.04003243273,0.591336571926,0.00876265852962,1.03970055155
+215,3.583333333,pose1_to_pose2_press,0.620875471262,9.0744442788e-05,1.04003202868,0.591445922911,0.00876249008063,1.03970016689
+216,3.600000000,pose1_to_pose2_press,0.620970720789,9.0752636064e-05,1.04003248354,0.591541170651,0.00876249194333,1.03970061233
+217,3.616666667,pose1_to_pose2_press,0.621051724295,9.0729720098e-05,1.04003228166,0.591622173284,0.00876246623978,1.03970041292
+218,3.633333333,pose1_to_pose2_press,0.62111975002,9.08081923482e-05,1.04003217367,0.591690198985,0.00876254505319,1.03970030858
+219,3.650000000,pose1_to_pose2_press,0.621176924383,9.07732618058e-05,1.0400322407,0.591747373986,0.00876251286921,1.03970037402
+220,3.666666667,pose1_to_pose2_press,0.621225536621,9.06201182821e-05,1.04003228581,0.591795986918,0.00876236235431,1.03970041488
+221,3.683333333,pose1_to_pose2_press,0.621266877085,9.07635729106e-05,1.04003239732,0.591837326539,0.00876250187903,1.03970052333
+222,3.700000000,pose1_to_pose2_press,0.621301557751,9.07029533548e-05,1.04003237597,0.591872008003,0.00876244389658,1.03970050595
+223,3.716666667,pose1_to_pose2_press,0.621331007003,9.08300948272e-05,1.04003236092,0.591901456426,0.00876256831086,1.03970049279
+224,3.733333333,pose1_to_pose2_press,0.621354898493,9.06912216049e-05,1.04003237991,0.591925349202,0.00876243403625,1.03970050845
+225,3.750000000,pose1_to_pose2_press,0.621372947975,9.07425620026e-05,1.04003231581,0.591943399155,0.00876248670556,1.03970044424
+226,3.766666667,pose1_to_pose2_press,0.621386145821,9.07820186229e-05,1.04003219794,0.591956596908,0.00876252579748,1.03970033068
+227,3.783333333,pose1_to_pose2_press,0.621395119816,9.07098373074e-05,1.04003212304,0.591965570694,0.00876245321749,1.03970025948
+228,3.800000000,pose1_to_pose2_press,0.621400870788,9.07845898233e-05,1.04003221136,0.591971320007,0.00876252218034,1.03970034266
+229,3.816666667,pose1_to_pose2_press,0.621404154031,9.07954979041e-05,1.04003224397,0.591974603067,0.00876253241588,1.03970037323
+230,3.833333333,pose1_to_pose2_press,0.621406252874,9.07725949655e-05,1.04003224807,0.591976702512,0.00876251155898,1.03970037686
+231,3.850000000,pose1_to_pose2_press,0.62140745648,9.07594610044e-05,1.04003225042,0.591977906464,0.00876249959835,1.03970037895
+232,3.866666667,pose1_to_pose2_press,0.621408484002,9.0748248513e-05,1.04003225243,0.59197893428,0.00876248938753,1.03970038072
+233,3.883333333,pose1_to_pose2_press,0.621409342259,9.07574056197e-05,1.04003225081,0.591979792011,0.00876249682227,1.03970038018
+234,3.900000000,pose1_to_pose2_press,0.621410054629,9.07682847696e-05,1.04003224888,0.591980503809,0.00876250581887,1.03970037937
+235,3.916666667,pose1_to_pose2_press,0.621410848293,9.0780405431e-05,1.04003224673,0.591981296835,0.00876251584214,1.03970037847
+236,3.933333333,pose1_to_pose2_press,0.621411687102,9.07932155313e-05,1.04003224447,0.59198213497,0.00876252643555,1.03970037751
+237,3.950000000,pose1_to_pose2_press,0.621412014855,9.07936491078e-05,1.04003225079,0.591982462673,0.00876252670916,1.03970038397
+238,3.966666667,pose1_to_pose2_press,0.621412063,9.07921433644e-05,1.0400322542,0.591982510885,0.00876252542234,1.03970038726
+239,3.983333333,pose1_to_pose2_press,0.621412189736,9.07881796671e-05,1.04003226317,0.591982637795,0.00876252203493,1.03970039593
+240,4.000000000,pose1_to_pose2_press,0.621412398509,9.07816502487e-05,1.04003227794,0.591982846856,0.00876251645483,1.03970041022
+241,4.016666667,pose1_to_pose2_press,0.621412723435,9.07714881553e-05,1.04003230093,0.591983172229,0.00876250777021,1.03970043244
+242,4.033333333,pose1_to_pose2_press,0.621413089876,9.07600276264e-05,1.04003232685,0.591983539175,0.00876249797593,1.03970045751
+243,4.050000000,pose1_to_pose2_press,0.621413374158,9.0751136659e-05,1.04003234696,0.591983823848,0.00876249037763,1.03970047696
+244,4.066666667,pose1_to_pose2_press,0.621413418405,9.0749752842e-05,1.04003235009,0.591983868155,0.00876248919501,1.03970047999
+245,4.083333333,pose1_to_pose2_press,0.621413531034,9.07462303302e-05,1.04003235806,0.59198398094,0.00876248618463,1.03970048769
+246,4.100000000,pose1_to_pose2_press,0.621413620324,9.07434377956e-05,1.04003236438,0.591984070352,0.00876248379811,1.0397004938
+247,4.116666667,pose1_to_pose2_press,0.621413738267,9.07393730953e-05,1.04003237229,0.591984188454,0.00876248025411,1.03970050145
+248,4.133333333,pose1_to_pose2_press,0.621414007037,9.07164869585e-05,1.04003237449,0.591984457408,0.00876245798926,1.0397005036
+249,4.150000000,pose1_to_pose2_press,0.621414312245,9.06904979644e-05,1.04003237699,0.591984762827,0.00876243270579,1.03970050605
+250,4.166666667,pose1_to_pose2_press,0.621414518962,9.06728957426e-05,1.04003237869,0.591984969686,0.00876241558142,1.03970050771
+251,4.183333333,pose1_to_pose2_press,0.621414560221,9.06550508763e-05,1.04003237113,0.591985011424,0.00876239942475,1.03970050206
+252,4.200000000,pose1_to_pose2_press,0.621414624098,9.06127107688e-05,1.04003235133,0.591985076504,0.00876236133351,1.03970048718
+253,4.216666667,pose1_to_pose2_press,0.621414650785,9.06365112407e-05,1.04003223699,0.591985103968,0.00876238770229,1.03970037169
+254,4.233333333,pose2_hold,0.621414650785,9.06365112407e-05,1.04003223699,0.591985103971,0.00876238770203,1.03970037168
+255,4.250000000,pose2_hold,0.621414650785,9.06365112407e-05,1.04003223699,0.591985103972,0.00876238770112,1.03970037168
+256,4.266666667,pose2_hold,0.621414650785,9.06365112407e-05,1.04003223699,0.591985103972,0.00876238770116,1.03970037168
+257,4.283333333,pose2_hold,0.621414650785,9.06365112407e-05,1.04003223699,0.591985103972,0.00876238770121,1.03970037168
+258,4.300000000,pose2_hold,0.621414650785,9.06365112407e-05,1.04003223699,0.591985103972,0.00876238770147,1.03970037168
+259,4.316666667,pose2_hold,0.621414650785,9.06365112407e-05,1.04003223699,0.591985103972,0.00876238770093,1.03970037168
+260,4.333333333,pose2_hold,0.621414650785,9.06365112407e-05,1.04003223699,0.591985103972,0.00876238770092,1.03970037168
+261,4.350000000,pose2_hold,0.621414650785,9.06365112407e-05,1.04003223699,0.591985103973,0.0087623877008,1.03970037168
+262,4.366666667,pose2_hold,0.621414650785,9.06365112407e-05,1.04003223699,0.591985103972,0.0087623877012,1.03970037168
+263,4.383333333,pose2_hold,0.621414650785,9.06365112407e-05,1.04003223699,0.591985103973,0.00876238770069,1.03970037168
+264,4.400000000,pose2_hold,0.621414650785,9.06365112407e-05,1.04003223699,0.591985103973,0.00876238770067,1.03970037168
+265,4.416666667,pose2_hold,0.621414650785,9.06365112407e-05,1.04003223699,0.591985103973,0.0087623877006,1.03970037168
+266,4.433333333,pose2_hold,0.621414650785,9.06365112407e-05,1.04003223699,0.591985103973,0.00876238770056,1.03970037168
+267,4.450000000,pose2_hold,0.621414650785,9.06365112407e-05,1.04003223699,0.591985103973,0.00876238770051,1.03970037168
+268,4.466666667,pose2_hold,0.621414650785,9.06365112407e-05,1.04003223699,0.591985103973,0.00876238770046,1.03970037168
+269,4.483333333,pose2_hold,0.621414650785,9.06365112407e-05,1.04003223699,0.591985103973,0.00876238770076,1.03970037168
+270,4.500000000,pose2_hold,0.621414650785,9.06365112407e-05,1.04003223699,0.591985103974,0.00876238770038,1.03970037168
+271,4.516666667,pose2_hold,0.621414650785,9.06365112407e-05,1.04003223699,0.591985103974,0.00876238770034,1.03970037168
+272,4.533333333,pose2_to_pose3_retreat,0.621414650785,9.06365112407e-05,1.04003223699,0.591985103974,0.00876238770018,1.03970037168
+273,4.550000000,pose2_to_pose3_retreat,0.621414603437,9.07210860698e-05,1.04003236305,0.591985055459,0.0087624680642,1.03970049139
+274,4.566666667,pose2_to_pose3_retreat,0.621414545075,9.07153555436e-05,1.04003236307,0.59198499705,0.008762462167,1.03970049144
+275,4.583333333,pose2_to_pose3_retreat,0.621414408027,9.06511074619e-05,1.04003229137,0.591984860529,0.0087623998476,1.03970042347
+276,4.600000000,pose2_to_pose3_retreat,0.621414387556,9.0641510671e-05,1.04003228066,0.591984840137,0.00876239053889,1.03970041331
+277,4.616666667,pose2_to_pose3_retreat,0.621414364141,9.06305332749e-05,1.04003226841,0.591984816811,0.00876237989103,1.0397004017
+278,4.633333333,pose2_to_pose3_retreat,0.621413517301,9.06596257428e-05,1.04003208285,0.591983969274,0.00876240672727,1.03970021898
+279,4.650000000,pose2_to_pose3_retreat,0.621411380073,9.06089302732e-05,1.0400323771,0.591981831331,0.00876235314653,1.03970050134
+280,4.666666667,pose2_to_pose3_retreat,0.621406820398,9.07507554337e-05,1.04003228548,0.591977271529,0.00876249492922,1.03970041943
+281,4.683333333,pose2_to_pose3_retreat,0.621396916364,9.06658766407e-05,1.04003240344,0.591967368709,0.00876241379167,1.03970052725
+282,4.700000000,pose2_to_pose3_retreat,0.62137952731,9.07468924216e-05,1.04003240643,0.591949977004,0.00876248561878,1.03970052751
+283,4.716666667,pose2_to_pose3_retreat,0.621351634446,9.07651070992e-05,1.04003219899,0.591922085109,0.00876250729466,1.0397003303
+284,4.733333333,pose2_to_pose3_retreat,0.621313194139,9.08192725608e-05,1.0400323375,0.591883644164,0.00876255925415,1.03970047327
+285,4.750000000,pose2_to_pose3_retreat,0.621263966793,9.07263269193e-05,1.04003242977,0.591834417277,0.00876246703498,1.03970055171
+286,4.766666667,pose2_to_pose3_retreat,0.621206200242,9.07565168209e-05,1.04003249321,0.591776650944,0.00876249787466,1.03970061737
+287,4.783333333,pose2_to_pose3_retreat,0.621140269618,9.06235928597e-05,1.0400323681,0.591710721177,0.0087623688586,1.03970049934
+288,4.800000000,pose2_to_pose3_retreat,0.621067958282,9.06867284584e-05,1.04003231627,0.59163840902,0.00876242936535,1.03970045206
+289,4.816666667,pose2_to_pose3_retreat,0.620988775565,9.07924253385e-05,1.04003207865,0.591559226739,0.00876253680825,1.03970022327
+290,4.833333333,pose2_to_pose3_retreat,0.620898618093,9.07485617164e-05,1.04003232776,0.591469069556,0.00876249323316,1.03970045779
+291,4.850000000,pose2_to_pose3_retreat,0.620795998993,9.08404069974e-05,1.04003236833,0.591366449951,0.00876258331002,1.03970049975
+292,4.866666667,pose2_to_pose3_retreat,0.620677450082,9.08567884777e-05,1.04003229734,0.591247899823,0.00876259558481,1.03970043138
+293,4.883333333,pose2_to_pose3_retreat,0.620541087962,9.07478370615e-05,1.04003217806,0.591111537911,0.00876248733064,1.03970031483
+294,4.900000000,pose2_to_pose3_retreat,0.620384887707,9.07045760167e-05,1.04003208916,0.590955338896,0.00876244824379,1.039700229
+295,4.916666667,pose2_to_pose3_retreat,0.620209662215,9.08220310692e-05,1.04003215656,0.59078011249,0.00876256233793,1.03970029334
+296,4.933333333,pose2_to_pose3_retreat,0.620015850485,9.07567385603e-05,1.04003231301,0.590586300533,0.00876249601882,1.03970044799
+297,4.950000000,pose2_to_pose3_retreat,0.619802402292,9.0796711816e-05,1.04003210475,0.590372854338,0.00876254268003,1.0397002431
+298,4.966666667,pose2_to_pose3_retreat,0.619570355401,9.07193532528e-05,1.04003208478,0.590140807116,0.00876246409826,1.03970022483
+299,4.983333333,pose2_to_pose3_retreat,0.619317900363,9.06875275749e-05,1.04003223718,0.58988835232,0.00876243254225,1.03970036786
+300,5.000000000,pose2_to_pose3_retreat,0.619046889321,9.07203595694e-05,1.04003219955,0.58961734081,0.0087624639709,1.03970034133
+301,5.016666667,pose2_to_pose3_retreat,0.618758370363,9.05968153374e-05,1.0400323365,0.589328822947,0.00876234335807,1.03970046441
+302,5.033333333,pose2_to_pose3_retreat,0.618445536868,9.06712445032e-05,1.04003224468,0.589015988471,0.00876241425051,1.03970037243
+303,5.050000000,pose2_to_pose3_retreat,0.618109972569,9.07326633938e-05,1.04003224542,0.588680424041,0.00876247515514,1.03970037483
+304,5.066666667,pose2_to_pose3_retreat,0.617751786037,9.0681777545e-05,1.04003236234,0.588322238676,0.00876242773733,1.03970048633
+305,5.083333333,pose2_to_pose3_retreat,0.617371294414,9.07005750549e-05,1.04003234363,0.58794174693,0.00876244568819,1.03970046864
+306,5.100000000,pose2_to_pose3_retreat,0.616967748852,9.07023606691e-05,1.04003247371,0.58753820174,0.00876244849005,1.03970059806
+307,5.116666667,pose2_to_pose3_retreat,0.61655102472,9.07495380407e-05,1.04003223807,0.587121475981,0.00876249020569,1.03970037101
+308,5.133333333,pose2_to_pose3_retreat,0.616120822007,9.08194014002e-05,1.04003211075,0.586691272408,0.00876255702649,1.03970024738
+309,5.150000000,pose2_to_pose3_retreat,0.615667273797,9.0772685676e-05,1.0400322036,0.586237726404,0.00876251752107,1.0397003414
+310,5.166666667,pose2_to_pose3_retreat,0.615189743494,9.08069774967e-05,1.04003231032,0.585760195024,0.00876254781272,1.03970044621
+311,5.183333333,pose2_to_pose3_retreat,0.614684885368,9.08632635297e-05,1.0400323645,0.585255335603,0.00876259921423,1.03970049594
+312,5.200000000,pose2_to_pose3_retreat,0.614159015734,9.08573414843e-05,1.04003229689,0.584729466733,0.00876259572385,1.03970043272
+313,5.216666667,pose2_to_pose3_retreat,0.613616492107,9.0813254936e-05,1.04003228898,0.584186944102,0.00876255492369,1.03970043019
+314,5.233333333,pose2_to_pose3_retreat,0.613061610239,9.07830958744e-05,1.0400324087,0.58363206181,0.00876252281325,1.03970054297
+315,5.250000000,pose2_to_pose3_retreat,0.61249334701,9.06940386119e-05,1.04003211787,0.583063800345,0.00876243969201,1.03970025428
+316,5.266666667,pose2_to_pose3_retreat,0.611905098602,9.06882562447e-05,1.04003223531,0.582475550171,0.00876242777791,1.03970036825
+317,5.283333333,pose2_to_pose3_retreat,0.61128598983,9.07504857091e-05,1.04003212098,0.581856442674,0.00876249457932,1.03970026061
+318,5.300000000,pose2_to_pose3_retreat,0.610625857316,9.07885493274e-05,1.0400323118,0.581196309512,0.00876253010024,1.03970044231
+319,5.316666667,pose2_to_pose3_retreat,0.609936819788,9.07730955223e-05,1.04003243283,0.580507272426,0.00876251630363,1.03970056738
+320,5.333333333,pose2_to_pose3_retreat,0.609223351051,9.07758585329e-05,1.04003248173,0.579793803659,0.00876251888743,1.03970061438
+321,5.350000000,pose2_to_pose3_retreat,0.608492158769,9.07903089641e-05,1.04003222328,0.579062609723,0.00876252779459,1.03970035788
+322,5.366666667,pose2_to_pose3_retreat,0.607749510735,9.07459691906e-05,1.04003207458,0.578319962055,0.00876248495579,1.03970021643
+323,5.383333333,pose2_to_pose3_retreat,0.607002402405,9.07524503681e-05,1.04003229671,0.577572855417,0.00876249717592,1.0397004379
+324,5.400000000,pose2_to_pose3_retreat,0.606249935598,9.08184968724e-05,1.04003240622,0.576820387992,0.00876256088932,1.03970053975
+325,5.416666667,pose2_to_pose3_retreat,0.605492232036,9.07294424295e-05,1.04003226477,0.576062683746,0.00876246923783,1.03970039122
+326,5.433333333,pose2_to_pose3_retreat,0.604726052915,9.07349396357e-05,1.04003222951,0.575296505556,0.00876247822781,1.0397003656
+327,5.450000000,pose2_to_pose3_retreat,0.603949420952,9.06804427282e-05,1.04003222524,0.574519873234,0.00876242242767,1.03970036075
+328,5.466666667,pose2_to_pose3_retreat,0.603156382917,9.07173494519e-05,1.04003246744,0.573726834212,0.00876245578725,1.03970059776
+329,5.483333333,pose2_to_pose3_retreat,0.602349254075,9.07390930581e-05,1.04003249681,0.572919705202,0.00876247700503,1.03970062536
+330,5.500000000,pose2_to_pose3_retreat,0.601532127247,9.08613425241e-05,1.04003230593,0.572102578149,0.00876259857831,1.03970043742
+331,5.516666667,pose2_to_pose3_retreat,0.600708334565,9.08500148613e-05,1.04003233978,0.57127878631,0.00876258997792,1.03970046809
+332,5.533333333,pose2_to_pose3_retreat,0.599877923772,9.07823731292e-05,1.04003222065,0.570448375516,0.00876252250381,1.03970035336
+333,5.550000000,pose2_to_pose3_retreat,0.599062661055,9.07915437913e-05,1.04003223125,0.569633112153,0.00876252956969,1.03970036531
+334,5.566666667,pose2_to_pose3_retreat,0.598259817589,9.07908939775e-05,1.04003227655,0.568830268285,0.00876252741012,1.03970040745
+335,5.583333333,pose2_to_pose3_retreat,0.597462619002,9.07028930715e-05,1.04003221355,0.568033070591,0.00876244223742,1.03970034105
+336,5.600000000,pose2_to_pose3_retreat,0.596667018674,9.06561320015e-05,1.04003242315,0.567237472603,0.0087624031021,1.03970054066
+337,5.616666667,pose2_to_pose3_retreat,0.595866682019,9.07752488596e-05,1.04003242581,0.566437133964,0.00876251551644,1.03970054407
+338,5.633333333,pose2_to_pose3_retreat,0.595058583841,9.07570870912e-05,1.04003246286,0.565629035713,0.00876249776174,1.03970059823
+339,5.650000000,pose2_to_pose3_retreat,0.594245896503,9.08123382068e-05,1.04003228793,0.564816349162,0.00876255542645,1.03970041649
+340,5.666666667,pose2_to_pose3_retreat,0.593428045695,9.07938005607e-05,1.04003224014,0.563998496907,0.00876253212201,1.03970037231
+341,5.683333333,pose2_to_pose3_retreat,0.592618932241,9.0895033606e-05,1.04003225263,0.563189383081,0.00876263201478,1.03970038401
+342,5.700000000,pose2_to_pose3_retreat,0.591836198676,9.07221140234e-05,1.04003221957,0.562406651234,0.00876246521384,1.03970035683
+343,5.716666667,pose2_to_pose3_retreat,0.591074444657,9.0614333266e-05,1.04003231447,0.561644897892,0.00876235951345,1.03970044503
+344,5.733333333,pose2_to_pose3_retreat,0.590334027738,9.07851821995e-05,1.04003237757,0.560904479229,0.00876252435417,1.03970050563
+345,5.750000000,pose2_to_pose3_retreat,0.5896073896,9.08877324657e-05,1.04003231064,0.560177839791,0.00876262269479,1.03970044392
+346,5.766666667,pose2_to_pose3_retreat,0.588889923551,9.07157983578e-05,1.04003226837,0.559460374942,0.00876245480387,1.03970040078
+347,5.783333333,pose2_to_pose3_retreat,0.588176385451,9.07826360267e-05,1.04003233873,0.558746837099,0.00876252264459,1.03970047447
+348,5.800000000,pose2_to_pose3_retreat,0.587469307535,9.08694077156e-05,1.04003215523,0.558039758469,0.00876260755337,1.03970030582
+349,5.816666667,pose2_to_pose3_retreat,0.586775085505,9.06685718118e-05,1.04003211846,0.55734553817,0.00876241189268,1.03970025267
+350,5.833333333,pose2_to_pose3_retreat,0.586104198942,9.0769141413e-05,1.04003248878,0.556674651352,0.00876251121795,1.03970061302
+351,5.850000000,pose2_to_pose3_retreat,0.585457059575,9.07724135659e-05,1.04003216211,0.556027512261,0.0087625159285,1.03970029977
+352,5.866666667,pose2_to_pose3_retreat,0.584833691421,9.0860907094e-05,1.04003208378,0.555404142097,0.00876259782325,1.03970022553
+353,5.883333333,pose2_to_pose3_retreat,0.584230410561,9.08192093139e-05,1.04003225047,0.554800860953,0.00876255506497,1.03970038911
+354,5.900000000,pose2_to_pose3_retreat,0.583648725442,9.08154090976e-05,1.04003240252,0.554219176516,0.00876255356794,1.03970054101
+355,5.916666667,pose2_to_pose3_retreat,0.583090712322,9.08016352075e-05,1.04003229316,0.553661164066,0.00876254216912,1.03970043423
+356,5.933333333,pose2_to_pose3_retreat,0.582558422706,9.07374400076e-05,1.04003217296,0.553128874642,0.00876247854934,1.03970031221
+357,5.950000000,pose2_to_pose3_retreat,0.582048873186,9.07624339805e-05,1.04003228781,0.552619324233,0.00876250030884,1.03970042166
+358,5.966666667,pose2_to_pose3_retreat,0.581557622028,9.08411693952e-05,1.0400320233,0.552128071871,0.00876257511825,1.03970016114
+359,5.983333333,pose2_to_pose3_retreat,0.581074803449,9.07608281661e-05,1.04003250201,0.55164525561,0.00876250230891,1.03970063106
+360,6.000000000,pose2_to_pose3_retreat,0.580603870056,9.07551963606e-05,1.04003214263,0.551174321607,0.00876249474784,1.03970027545
+361,6.016666667,pose2_to_pose3_retreat,0.58015295968,9.05922831434e-05,1.04003212674,0.550723414103,0.008762341541,1.03970025936
+362,6.033333333,pose2_to_pose3_retreat,0.579731797598,9.0705141331e-05,1.04003225192,0.550302251046,0.00876245083539,1.03970037774
+363,6.050000000,pose2_to_pose3_retreat,0.579345741462,9.0687694466e-05,1.04003237093,0.549916194815,0.00876243297069,1.03970049444
+364,6.066666667,pose2_to_pose3_retreat,0.578995728257,9.07707152651e-05,1.04003236549,0.549566180343,0.00876251201728,1.03970049706
+365,6.083333333,pose2_to_pose3_retreat,0.578675542388,9.0789166148e-05,1.04003228045,0.549245993819,0.00876252850725,1.03970041871
+366,6.100000000,pose2_to_pose3_retreat,0.578374153358,9.07731073395e-05,1.04003220964,0.54894460538,0.00876251452682,1.03970034993
+367,6.116666667,pose2_to_pose3_retreat,0.578084260152,9.07863705179e-05,1.0400322509,0.548654713476,0.00876253205022,1.03970038694
+368,6.133333333,pose2_to_pose3_retreat,0.577803313535,9.06334172307e-05,1.04003240836,0.54837376823,0.00876238321615,1.03970053037
+369,6.150000000,pose2_to_pose3_retreat,0.577535787749,9.06787108201e-05,1.04003229199,0.548106240819,0.0087624238493,1.03970043641
+370,6.166666667,pose2_to_pose3_retreat,0.577284605643,9.08079155361e-05,1.04003211577,0.547855056713,0.00876254605904,1.03970025509
+371,6.183333333,pose2_to_pose3_retreat,0.577059040159,9.07803944228e-05,1.04003247924,0.547629490667,0.0087625163491,1.0397006109
+372,6.200000000,pose2_to_pose3_retreat,0.576858019335,9.07345042413e-05,1.04003233345,0.547428473088,0.00876248170972,1.03970047147
+373,6.216666667,pose2_to_pose3_retreat,0.576682062267,9.08300522308e-05,1.04003235949,0.547252513256,0.00876256765615,1.0397004916
+374,6.233333333,pose2_to_pose3_retreat,0.576527513945,9.07602096405e-05,1.04003206265,0.547097966264,0.00876250237824,1.03970019609
+375,6.250000000,pose2_to_pose3_retreat,0.576394395252,9.08526194586e-05,1.04003226905,0.546964845404,0.00876258719753,1.03970039631
+376,6.266666667,pose2_to_pose3_retreat,0.576275958938,9.08471810695e-05,1.04003217619,0.546846409807,0.00876258427801,1.03970030583
+377,6.283333333,pose2_to_pose3_retreat,0.576171437846,9.0830159611e-05,1.0400321221,0.546741889437,0.00876256972549,1.03970025269
+378,6.300000000,pose2_to_pose3_retreat,0.57608006006,9.08064310578e-05,1.04003238239,0.546650511232,0.00876254441375,1.03970050923
+379,6.316666667,pose2_to_pose3_retreat,0.575999436231,9.06957749376e-05,1.04003255715,0.546569888677,0.00876243813775,1.03970068539
+380,6.333333333,pose2_to_pose3_retreat,0.575929065171,9.08412661762e-05,1.04003226963,0.546499516751,0.00876258068027,1.03970039751
+381,6.350000000,pose2_to_pose3_retreat,0.575869847974,9.09430410697e-05,1.04003223988,0.546440296243,0.00876267140352,1.03970037257
+382,6.366666667,pose2_to_pose3_retreat,0.575822042933,9.07947966953e-05,1.04003234178,0.546392493194,0.00876252992599,1.03970047455
+383,6.383333333,pose2_to_pose3_retreat,0.575783755631,9.07161059844e-05,1.04003227471,0.54635420691,0.00876245469024,1.03970040741
+384,6.400000000,pose2_to_pose3_retreat,0.575753445188,9.08114920409e-05,1.04003238545,0.546323895648,0.00876254727381,1.03970051765
+385,6.416666667,pose2_to_pose3_retreat,0.575729767719,9.0862814442e-05,1.04003245469,0.546300218061,0.00876259813765,1.03970058542
+386,6.433333333,pose2_to_pose3_retreat,0.575710902975,9.07818563485e-05,1.04003233055,0.546281354595,0.00876252155063,1.03970046225
+387,6.450000000,pose2_to_pose3_retreat,0.575696318829,9.07277234203e-05,1.04003206766,0.546266770324,0.00876246758192,1.03970021479
+388,6.466666667,pose2_to_pose3_retreat,0.575685666732,9.07023413615e-05,1.04003238172,0.546256118841,0.00876244383368,1.03970051724
+389,6.483333333,pose2_to_pose3_retreat,0.575678648739,9.07235290416e-05,1.04003241816,0.546249100862,0.00876246501039,1.03970055205
+390,6.500000000,pose2_to_pose3_retreat,0.575674091992,9.07558100239e-05,1.04003233869,0.546244543896,0.00876249665499,1.0397004753
+391,6.516666667,pose2_to_pose3_retreat,0.575671311586,9.07522401309e-05,1.04003234866,0.546241763018,0.00876249140395,1.03970048316
+392,6.533333333,pose2_to_pose3_retreat,0.575669452634,9.07498533357e-05,1.04003235533,0.54623990375,0.00876248789315,1.03970048841
+393,6.550000000,pose2_to_pose3_retreat,0.575668034822,9.0707270302e-05,1.04003244465,0.546238487182,0.00876244940697,1.03970057446
+394,6.566666667,pose2_to_pose3_retreat,0.575666952489,9.06594600991e-05,1.04003254447,0.546237406356,0.0087624065841,1.03970067095
+395,6.583333333,pose2_to_pose3_retreat,0.575666445576,9.06370680973e-05,1.04003259121,0.546236900149,0.00876238652793,1.03970071614
+396,6.600000000,pose2_to_pose3_retreat,0.575666443676,9.06369841829e-05,1.04003259139,0.546236898252,0.00876238645277,1.03970071631
+397,6.616666667,pose2_to_pose3_retreat,0.575666393863,9.06347837736e-05,1.04003259598,0.546236848508,0.00876238448189,1.03970072075
+398,6.633333333,pose2_to_pose3_retreat,0.575666387995,9.06345245373e-05,1.04003259652,0.546236842648,0.0087623842497,1.03970072127
+399,6.650000000,pose2_to_pose3_retreat,0.575666322611,9.06316363369e-05,1.04003260255,0.546236777356,0.00876238166278,1.0397007271
+400,6.666666667,pose2_to_pose3_retreat,0.575666038233,9.06212138196e-05,1.04003261688,0.546236493288,0.00876237226991,1.03970074078
+401,6.683333333,pose2_to_pose3_retreat,0.575665753,9.06371011071e-05,1.04003248482,0.546236207317,0.0087623857332,1.03970061081
+402,6.700000000,pose2_to_pose3_retreat,0.5756655681,9.06473998922e-05,1.04003239921,0.546236021939,0.00876239446065,1.03970052656
+403,6.716666667,pose2_to_pose3_retreat,0.575665446964,9.06541470878e-05,1.04003234313,0.546235900489,0.00876240017839,1.03970047136
+404,6.733333333,pose2_to_pose3_retreat,0.575665398792,9.06568302405e-05,1.04003232082,0.546235852192,0.00876240245217,1.03970044941
+405,6.750000000,pose2_to_pose3_retreat,0.575665364903,9.06587178186e-05,1.04003230513,0.546235818216,0.00876240405175,1.03970043397
+406,6.766666667,pose2_to_pose3_retreat,0.575665331123,9.06605993276e-05,1.04003228949,0.546235784349,0.00876240564619,1.03970041857
+407,6.783333333,pose2_to_pose3_retreat,0.575665329308,9.06607004142e-05,1.04003228865,0.546235782529,0.00876240573185,1.03970041775
+408,6.800000000,pose2_to_pose3_retreat,0.575665312199,9.06616533869e-05,1.04003228073,0.546235765376,0.00876240653942,1.03970040995
+409,6.816666667,pose2_to_pose3_retreat,0.575665269023,9.06640582894e-05,1.04003226074,0.546235722087,0.0087624085774,1.03970039028
+410,6.833333333,pose2_to_pose3_retreat,0.575665204828,9.06676339027e-05,1.04003223102,0.546235657726,0.00876241160746,1.03970036102
+411,6.850000000,pose2_to_pose3_retreat,0.575665135272,9.06715080765e-05,1.04003219881,0.546235587991,0.00876241489053,1.03970032933
+412,6.866666667,pose2_to_pose3_retreat,0.575665073807,9.0674931633e-05,1.04003217036,0.546235526367,0.00876241779174,1.03970030132
+413,6.883333333,pose2_to_pose3_retreat,0.575664978165,9.06802588312e-05,1.04003212607,0.546235430477,0.00876242230614,1.03970025774
+414,6.900000000,pose2_to_pose3_retreat,0.575664960888,9.06812211681e-05,1.04003211807,0.546235413155,0.00876242312165,1.03970024987
+415,6.916666667,pose2_to_pose3_retreat,0.575664838952,9.06886253473e-05,1.04003213967,0.546235290915,0.0087624295228,1.03970027227
+416,6.933333333,pose2_to_pose3_retreat,0.575664682593,9.06981244416e-05,1.04003216796,0.546235134165,0.00876243773596,1.03970030158
+417,6.950000000,pose2_to_pose3_retreat,0.575664459893,9.07116538573e-05,1.04003220825,0.546234910909,0.00876244943384,1.03970034334
+418,6.966666667,pose2_to_pose3_retreat,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787087,0.00876252613234,1.03970050298

Part2/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_01/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4317a5b0f97391867f1931ba062af6d3b5857af25c49dfe26c8343798e5277e4
+size 26315631

Part2/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_01/simulation_data.csv

@@ -0,0 +1,415 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+1,0.016666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+2,0.033333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+3,0.050000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+4,0.066666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+5,0.083333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+6,0.100000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+7,0.116666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+8,0.133333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+9,0.150000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+10,0.166666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+11,0.183333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+12,0.200000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+13,0.216666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+14,0.233333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+15,0.250000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+16,0.266666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+17,0.283333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+18,0.300000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+19,0.316666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+20,0.333333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+21,0.350000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+22,0.366666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+23,0.383333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+24,0.400000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+25,0.416666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+26,0.433333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+27,0.450000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+28,0.466666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+29,0.483333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+30,0.500000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+31,0.516666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+32,0.533333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+33,0.550000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+34,0.566666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+35,0.583333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+36,0.600000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+37,0.616666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+38,0.633333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+39,0.650000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+40,0.666666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+41,0.683333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+42,0.700000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+43,0.716666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+44,0.733333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+45,0.750000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+46,0.766666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+47,0.783333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+48,0.800000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+49,0.816666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+50,0.833333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+51,0.850000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+52,0.866666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+53,0.883333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+54,0.900000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+55,0.916666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+56,0.933333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+57,0.950000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+58,0.966666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+59,0.983333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+60,1.000000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+61,1.016666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+62,1.033333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+63,1.050000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+64,1.066666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+65,1.083333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+66,1.100000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+67,1.116666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+68,1.133333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+69,1.150000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+70,1.166666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+71,1.183333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+72,1.200000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+73,1.216666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+74,1.233333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+75,1.250000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+76,1.266666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+77,1.283333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+78,1.300000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+79,1.316666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+80,1.333333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+81,1.350000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+82,1.366666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+83,1.383333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+84,1.400000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+85,1.416666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+86,1.433333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+87,1.450000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+88,1.466666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+89,1.483333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+90,1.500000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+91,1.516666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+92,1.533333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+93,1.550000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+94,1.566666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+95,1.583333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+96,1.600000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+97,1.616666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+98,1.633333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+99,1.650000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+100,1.666666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+101,1.683333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+102,1.700000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+103,1.716666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+104,1.733333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+105,1.750000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+106,1.766666667,pose1_to_pose2_press,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+107,1.783333333,pose1_to_pose2_press,0.575664281242,9.09290995968e-05,1.06003232001,0.546234729994,0.00876265928198,1.05970045745
+108,1.800000000,pose1_to_pose2_press,0.575664311415,9.09075285329e-05,1.06003233877,0.546234760499,0.0087626387983,1.05970047514
+109,1.816666667,pose1_to_pose2_press,0.575664419264,9.08304260243e-05,1.06003240584,0.546234869536,0.0087625655825,1.05970053841
+110,1.833333333,pose1_to_pose2_press,0.57566454924,9.07421824355e-05,1.06003248269,0.546235000863,0.00876248175516,1.05970061081
+111,1.850000000,pose1_to_pose2_press,0.575664663812,9.07739891955e-05,1.06003245697,0.546235114738,0.00876251117865,1.05970058459
+112,1.866666667,pose1_to_pose2_press,0.575664696015,9.07829292067e-05,1.06003244975,0.546235146745,0.00876251944879,1.05970057722
+113,1.883333333,pose1_to_pose2_press,0.575664777637,9.08055887717e-05,1.06003243143,0.546235227872,0.00876254041049,1.05970055855
+114,1.900000000,pose1_to_pose2_press,0.575664984705,9.08630738144e-05,1.06003238496,0.546235433681,0.00876259358821,1.05970051117
+115,1.916666667,pose1_to_pose2_press,0.575666703736,9.07059144987e-05,1.06003236105,0.546237155098,0.00876244478534,1.05970049397
+116,1.933333333,pose1_to_pose2_press,0.575671386942,9.0764928676e-05,1.06003248892,0.546241838007,0.00876250276288,1.05970062114
+117,1.950000000,pose1_to_pose2_press,0.575682567686,9.07444292922e-05,1.06003242795,0.546253019082,0.00876248364623,1.0597005668
+118,1.966666667,pose1_to_pose2_press,0.575701792371,9.0740648913e-05,1.06003237543,0.546272244595,0.0087624825275,1.05970051038
+119,1.983333333,pose1_to_pose2_press,0.575732023166,9.07601708581e-05,1.0600322781,0.546302473682,0.00876249604712,1.05970040756
+120,2.000000000,pose1_to_pose2_press,0.575773129927,9.07622248128e-05,1.06003231695,0.54634358222,0.00876250426404,1.05970044982
+121,2.016666667,pose1_to_pose2_press,0.575825360726,9.07161554689e-05,1.06003214587,0.546395813436,0.00876245956411,1.05970027753
+122,2.033333333,pose1_to_pose2_press,0.575886230039,9.08307010234e-05,1.06003218118,0.546456680973,0.00876256806353,1.0597003122
+123,2.050000000,pose1_to_pose2_press,0.575955179144,9.08719191637e-05,1.06003230719,0.546525630245,0.00876260970459,1.05970043443
+124,2.066666667,pose1_to_pose2_press,0.576033129864,9.08937501545e-05,1.06003246732,0.546603581198,0.0087626324981,1.05970059892
+125,2.083333333,pose1_to_pose2_press,0.576120574839,9.08578150803e-05,1.06003245458,0.546691026311,0.008762597137,1.0597005889
+126,2.100000000,pose1_to_pose2_press,0.576219732138,9.08437861144e-05,1.06003241636,0.546790182718,0.00876258007308,1.05970055048
+127,2.116666667,pose1_to_pose2_press,0.576333165465,9.08066930958e-05,1.0600323589,0.546903616167,0.00876254319212,1.05970048771
+128,2.133333333,pose1_to_pose2_press,0.576463129537,9.06124044058e-05,1.06003234087,0.547033582023,0.00876235489531,1.05970046805
+129,2.150000000,pose1_to_pose2_press,0.576608893298,9.0719597288e-05,1.06003222695,0.547179344682,0.00876245850159,1.05970035801
+130,2.166666667,pose1_to_pose2_press,0.576770588473,9.07784623254e-05,1.06003219523,0.547341039744,0.00876251729774,1.05970033446
+131,2.183333333,pose1_to_pose2_press,0.576952326062,9.08887919349e-05,1.06003222727,0.547522775994,0.00876262280215,1.0597003591
+132,2.200000000,pose1_to_pose2_press,0.57715305711,9.08387512676e-05,1.06003219996,0.547723508186,0.00876257693712,1.05970033944
+133,2.216666667,pose1_to_pose2_press,0.57737458286,9.07714581559e-05,1.06003264822,0.547945035288,0.00876251400716,1.05970078164
+134,2.233333333,pose1_to_pose2_press,0.577615291007,9.08459881248e-05,1.0600325297,0.548185741482,0.00876258169347,1.05970065752
+135,2.250000000,pose1_to_pose2_press,0.577874509858,9.07230911763e-05,1.06003228162,0.548444960592,0.00876245985383,1.05970041407
+136,2.266666667,pose1_to_pose2_press,0.578150711924,9.07442925237e-05,1.06003220211,0.548721163022,0.00876248248902,1.05970033962
+137,2.283333333,pose1_to_pose2_press,0.578443981455,9.06748215727e-05,1.06003220629,0.549014433684,0.00876241676799,1.05970034139
+138,2.300000000,pose1_to_pose2_press,0.578758259262,9.07306574602e-05,1.06003221861,0.549328711394,0.00876247215495,1.05970035062
+139,2.316666667,pose1_to_pose2_press,0.579092677629,9.07678242284e-05,1.06003234301,0.549663129367,0.00876250784156,1.05970047116
+140,2.333333333,pose1_to_pose2_press,0.579447562244,9.07464611259e-05,1.0600323846,0.550018013811,0.00876248597571,1.05970051471
+141,2.350000000,pose1_to_pose2_press,0.579819574283,9.08406866454e-05,1.06003222651,0.550390024887,0.0087625772979,1.05970036609
+142,2.366666667,pose1_to_pose2_press,0.580207142205,9.07588187555e-05,1.06003228748,0.550777593278,0.00876249690687,1.05970042402
+143,2.383333333,pose1_to_pose2_press,0.580613095599,9.06763037842e-05,1.06003208316,0.5511835485,0.00876242085209,1.05970022638
+144,2.400000000,pose1_to_pose2_press,0.581041853733,9.08761968007e-05,1.06003240784,0.551612304573,0.00876261367167,1.05970054892
+145,2.416666667,pose1_to_pose2_press,0.581501748271,9.07506595883e-05,1.06003254342,0.552072200031,0.00876249108859,1.05970068008
+146,2.433333333,pose1_to_pose2_press,0.581987090354,9.08582538943e-05,1.06003246988,0.552557542756,0.00876260085992,1.0597006064
+147,2.450000000,pose1_to_pose2_press,0.582495155912,9.08720839448e-05,1.06003239806,0.55306560576,0.00876260564758,1.05970052478
+148,2.466666667,pose1_to_pose2_press,0.5830163098,9.07563370118e-05,1.06003236693,0.553586760865,0.00876249398271,1.0597004923
+149,2.483333333,pose1_to_pose2_press,0.583548723428,9.06993469924e-05,1.0600322298,0.554119175836,0.00876244160931,1.0597003567
+150,2.500000000,pose1_to_pose2_press,0.584097315116,9.07178893312e-05,1.06003223107,0.554667767322,0.00876245952544,1.05970035944
+151,2.516666667,pose1_to_pose2_press,0.584669490978,9.06652065271e-05,1.06003225771,0.555239943387,0.00876240764215,1.05970038901
+152,2.533333333,pose1_to_pose2_press,0.585271504394,9.06072962802e-05,1.06003222214,0.555841957691,0.0087623526833,1.05970035175
+153,2.550000000,pose1_to_pose2_press,0.585895460791,9.07390958839e-05,1.06003250224,0.556465913875,0.00876248354414,1.05970062614
+154,2.566666667,pose1_to_pose2_press,0.586535204544,9.06943063102e-05,1.06003238692,0.557105657187,0.00876243775968,1.05970052382
+155,2.583333333,pose1_to_pose2_press,0.587170420771,9.0775484072e-05,1.0600321033,0.55774087095,0.00876251066566,1.05970024261
+156,2.600000000,pose1_to_pose2_press,0.587803651113,9.09652606032e-05,1.06003250735,0.558374101165,0.00876269929134,1.0597006278
+157,2.616666667,pose1_to_pose2_press,0.588445412107,9.0768900158e-05,1.06003226636,0.559015863582,0.00876250811317,1.05970039603
+158,2.633333333,pose1_to_pose2_press,0.589106007777,9.06398656646e-05,1.0600321214,0.559676460857,0.0087623847367,1.05970025663
+159,2.650000000,pose1_to_pose2_press,0.589790372255,9.07905610028e-05,1.06003219158,0.560360823483,0.00876252896229,1.05970032198
+160,2.666666667,pose1_to_pose2_press,0.590501115503,9.07147178616e-05,1.06003223847,0.561071568415,0.00876245882925,1.05970036866
+161,2.683333333,pose1_to_pose2_press,0.59123107308,9.06044339446e-05,1.06003223981,0.561801526759,0.00876235115993,1.05970037032
+162,2.700000000,pose1_to_pose2_press,0.591968498895,9.07093638251e-05,1.0600322289,0.562538949989,0.00876244740168,1.05970036167
+163,2.716666667,pose1_to_pose2_press,0.592705616616,9.08126938533e-05,1.06003220038,0.563276067251,0.00876254937684,1.05970033848
+164,2.733333333,pose1_to_pose2_press,0.593434908795,9.07961650256e-05,1.06003223866,0.56400536067,0.00876253698121,1.05970037479
+165,2.750000000,pose1_to_pose2_press,0.594157905657,9.07588692658e-05,1.06003234975,0.564728356529,0.00876249610166,1.05970048123
+166,2.766666667,pose1_to_pose2_press,0.594873661607,9.08525262733e-05,1.06003236168,0.565444112505,0.00876258971751,1.05970048985
+167,2.783333333,pose1_to_pose2_press,0.595595080275,9.07900474316e-05,1.06003222223,0.566165531219,0.00876252764309,1.05970035686
+168,2.800000000,pose1_to_pose2_press,0.596326783785,9.08190369174e-05,1.06003232599,0.566897234544,0.00876255591928,1.05970045843
+169,2.816666667,pose1_to_pose2_press,0.59707356994,9.06852322924e-05,1.06003245386,0.567644024791,0.00876243585548,1.05970058257
+170,2.833333333,pose1_to_pose2_press,0.597836497601,9.07036857386e-05,1.06003220469,0.568406950825,0.00876244910068,1.05970034159
+171,2.850000000,pose1_to_pose2_press,0.598615794832,9.07874685963e-05,1.06003215231,0.569186245844,0.00876252541622,1.05970029034
+172,2.866666667,pose1_to_pose2_press,0.599390401459,9.0801783644e-05,1.06003212118,0.56996085287,0.00876254115915,1.05970026121
+173,2.883333333,pose1_to_pose2_press,0.60015709994,9.07318092385e-05,1.06003214157,0.570727551836,0.00876247270214,1.05970027833
+174,2.900000000,pose1_to_pose2_press,0.600891818314,9.07167078355e-05,1.06003222523,0.571462269871,0.0087624562025,1.05970035557
+175,2.916666667,pose1_to_pose2_press,0.601600854749,9.0757928668e-05,1.06003218458,0.572171306448,0.00876249796488,1.05970031651
+176,2.933333333,pose1_to_pose2_press,0.602295239802,9.07475385382e-05,1.06003210861,0.572865692313,0.0087624905451,1.05970024622
+177,2.950000000,pose1_to_pose2_press,0.602986662948,9.07880079216e-05,1.06003217857,0.573557114898,0.00876252926792,1.05970032037
+178,2.966666667,pose1_to_pose2_press,0.603681856945,9.07739796722e-05,1.06003219899,0.574252308658,0.00876251431746,1.05970033778
+179,2.983333333,pose1_to_pose2_press,0.604390249195,9.08312865781e-05,1.0600324441,0.574960701119,0.0087625720982,1.05970057672
+180,3.000000000,pose1_to_pose2_press,0.605102831102,9.0764206517e-05,1.06003235192,0.575673284306,0.00876250935272,1.05970048437
+181,3.016666667,pose1_to_pose2_press,0.605802346574,9.08499491174e-05,1.06003222093,0.576372796573,0.0087625843448,1.05970035676
+182,3.033333333,pose1_to_pose2_press,0.606476137726,9.08144688742e-05,1.06003220464,0.577046587869,0.00876254932816,1.05970033991
+183,3.050000000,pose1_to_pose2_press,0.607113636864,9.08050304105e-05,1.06003230609,0.577684087408,0.00876254114367,1.0597004386
+184,3.066666667,pose1_to_pose2_press,0.607718809761,9.08286640075e-05,1.06003227429,0.578289260381,0.0087625649814,1.05970040549
+185,3.083333333,pose1_to_pose2_press,0.608291478791,9.08004976695e-05,1.06003233135,0.578861930024,0.00876253892982,1.05970046352
+186,3.100000000,pose1_to_pose2_press,0.608842664713,9.07153114231e-05,1.06003246305,0.5794131168,0.00876245665139,1.05970059557
+187,3.116666667,pose1_to_pose2_press,0.609379342885,9.0666243011e-05,1.06003248093,0.579949795237,0.00876240833282,1.05970060971
+188,3.133333333,pose1_to_pose2_press,0.60991129071,9.08062957296e-05,1.0600325181,0.580481743068,0.00876254811986,1.05970063946
+189,3.150000000,pose1_to_pose2_press,0.610441121708,9.07490181248e-05,1.06003262645,0.58101157511,0.00876249440656,1.05970074843
+190,3.166666667,pose1_to_pose2_press,0.610966479509,9.07338483757e-05,1.06003249259,0.581536932039,0.00876247661243,1.05970062339
+191,3.183333333,pose1_to_pose2_press,0.611471011464,9.07079942441e-05,1.06003239989,0.582041463093,0.0087624475051,1.05970052565
+192,3.200000000,pose1_to_pose2_press,0.611950172967,9.06517522749e-05,1.06003243922,0.582520625513,0.00876239456176,1.05970056994
+193,3.216666667,pose1_to_pose2_press,0.612395204603,9.07522568291e-05,1.06003241895,0.582965656219,0.00876249186564,1.0597005487
+194,3.233333333,pose1_to_pose2_press,0.612813312038,9.08606482801e-05,1.06003238228,0.58338376146,0.00876259265564,1.05970050748
+195,3.250000000,pose1_to_pose2_press,0.613209346347,9.08701045064e-05,1.0600324038,0.583779795692,0.00876260194439,1.05970052982
+196,3.266666667,pose1_to_pose2_press,0.613591999642,9.08433998038e-05,1.06003241948,0.584162452079,0.00876258608901,1.05970055229
+197,3.283333333,pose1_to_pose2_press,0.613962541258,9.08244711185e-05,1.0600322146,0.584532992539,0.00876256340944,1.05970034944
+198,3.300000000,pose1_to_pose2_press,0.614317591942,9.07489639435e-05,1.06003230184,0.584888043279,0.00876248842318,1.05970044138
+199,3.316666667,pose1_to_pose2_press,0.614655335652,9.0655896772e-05,1.06003212258,0.585225788878,0.0087624019178,1.05970026112
+200,3.333333333,pose1_to_pose2_press,0.61497082795,9.0615907727e-05,1.06003219405,0.585541281002,0.0087623613289,1.05970032694
+201,3.350000000,pose1_to_pose2_press,0.61526332167,9.0781209431e-05,1.0600323822,0.585833773107,0.00876252127398,1.05970051326
+202,3.366666667,pose1_to_pose2_press,0.615530549538,9.08228184144e-05,1.06003241888,0.586101000671,0.00876256197039,1.05970054924
+203,3.383333333,pose1_to_pose2_press,0.615777659266,9.07430004607e-05,1.06003235061,0.58634811117,0.00876248500036,1.0597004832
+204,3.400000000,pose1_to_pose2_press,0.616005968843,9.07363731118e-05,1.06003234715,0.586576420691,0.00876247855925,1.0597004849
+205,3.416666667,pose1_to_pose2_press,0.616219461007,9.0841040151e-05,1.06003244638,0.586789911101,0.00876257733285,1.05970058319
+206,3.433333333,pose1_to_pose2_press,0.61642019335,9.07682675132e-05,1.06003245276,0.586990644694,0.00876250893448,1.05970058856
+207,3.450000000,pose1_to_pose2_press,0.616608437061,9.07669559544e-05,1.06003223114,0.587178888165,0.00876250711015,1.05970037077
+208,3.466666667,pose1_to_pose2_press,0.616782846254,9.07390791721e-05,1.06003222134,0.587353297875,0.00876248071226,1.05970035272
+209,3.483333333,pose1_to_pose2_press,0.616942146393,9.07797271254e-05,1.06003222184,0.587512597111,0.00876251846818,1.05970035327
+210,3.500000000,pose1_to_pose2_press,0.617082579672,9.08119340026e-05,1.06003243859,0.587653030687,0.00876255176157,1.0597005691
+211,3.516666667,pose1_to_pose2_press,0.617205159476,9.0792665991e-05,1.06003240556,0.58777561113,0.0087625348802,1.05970053975
+212,3.533333333,pose1_to_pose2_press,0.617311928665,9.07623916872e-05,1.06003224784,0.587882379759,0.0087625028175,1.05970038266
+213,3.550000000,pose1_to_pose2_press,0.617405969558,9.07699976167e-05,1.06003241281,0.587976419408,0.00876250594925,1.05970053807
+214,3.566666667,pose1_to_pose2_press,0.617488551356,9.08146309966e-05,1.06003258237,0.588059001356,0.00876255162705,1.05970071496
+215,3.583333333,pose1_to_pose2_press,0.617562307438,9.07072783864e-05,1.06003260077,0.588132760801,0.0087624557425,1.05970072943
+216,3.600000000,pose1_to_pose2_press,0.617627290063,9.08083765314e-05,1.06003250173,0.58819774142,0.0087625500853,1.05970063019
+217,3.616666667,pose1_to_pose2_press,0.617682219792,9.08347012365e-05,1.06003220257,0.588252669953,0.00876257257229,1.05970033491
+218,3.633333333,pose1_to_pose2_press,0.617727480929,9.07297318163e-05,1.06003234273,0.588297932242,0.00876247147332,1.05970047618
+219,3.650000000,pose1_to_pose2_press,0.617763143325,9.06762612085e-05,1.06003233228,0.588333595653,0.00876242143481,1.05970046741
+220,3.666666667,pose1_to_pose2_press,0.617791510062,9.07125134058e-05,1.06003225011,0.588361962139,0.00876245682947,1.05970038607
+221,3.683333333,pose1_to_pose2_press,0.61781323312,9.07821375824e-05,1.06003232649,0.588383684094,0.00876252258946,1.05970046001
+222,3.700000000,pose1_to_pose2_press,0.617830430523,9.08312543558e-05,1.06003226054,0.588400880441,0.00876256801481,1.05970038893
+223,3.716666667,pose1_to_pose2_press,0.617843416849,9.08578520567e-05,1.06003232478,0.588413867025,0.00876259540111,1.05970045406
+224,3.733333333,pose1_to_pose2_press,0.617852767869,9.08118543608e-05,1.06003230818,0.588423219307,0.00876255378417,1.05970044027
+225,3.750000000,pose1_to_pose2_press,0.617859265112,9.07227772639e-05,1.06003222494,0.588429718252,0.00876247069729,1.05970036028
+226,3.766666667,pose1_to_pose2_press,0.617863584561,9.08079682648e-05,1.06003227702,0.588434036681,0.00876255242769,1.05970041258
+227,3.783333333,pose1_to_pose2_press,0.617866576217,9.08820474221e-05,1.06003232431,0.588437027405,0.00876262333302,1.05970045981
+228,3.800000000,pose1_to_pose2_press,0.617868340345,9.08803005982e-05,1.06003237041,0.588438791527,0.00876262148708,1.05970050446
+229,3.816666667,pose1_to_pose2_press,0.617869877862,9.08557488562e-05,1.06003241982,0.588440329314,0.00876259774743,1.05970055189
+230,3.833333333,pose1_to_pose2_press,0.61787111334,9.08360202032e-05,1.06003245953,0.588441565008,0.00876257867134,1.05970059
+231,3.850000000,pose1_to_pose2_press,0.617871845343,9.08314252765e-05,1.06003247307,0.588442296986,0.00876257398084,1.05970060349
+232,3.866666667,pose1_to_pose2_press,0.617872269098,9.08389616751e-05,1.06003246656,0.588442720505,0.00876258076883,1.05970059825
+233,3.883333333,pose1_to_pose2_press,0.617872464344,9.08424340839e-05,1.06003246356,0.588442915642,0.0087625838964,1.05970059584
+234,3.900000000,pose1_to_pose2_press,0.617872489917,9.08428888884e-05,1.06003246317,0.588442941201,0.00876258430604,1.05970059552
+235,3.916666667,pose1_to_pose2_press,0.617872616458,9.08451394042e-05,1.06003246123,0.588443067672,0.00876258633306,1.05970059396
+236,3.933333333,pose1_to_pose2_press,0.617872646909,9.08456809599e-05,1.06003246076,0.588443098105,0.00876258682084,1.05970059358
+237,3.950000000,pose1_to_pose2_press,0.617872655657,9.08458365543e-05,1.06003246063,0.588443106849,0.00876258696098,1.05970059347
+238,3.966666667,pose1_to_pose2_press,0.617872797312,9.0848355852e-05,1.06003245845,0.588443248425,0.0087625892301,1.05970059172
+239,3.983333333,pose1_to_pose2_press,0.6178728482,9.08492608899e-05,1.06003245767,0.588443299285,0.00876259004526,1.05970059109
+240,4.000000000,pose1_to_pose2_press,0.617873318283,9.08576212289e-05,1.06003245045,0.588443769107,0.00876259757536,1.05970058528
+241,4.016666667,pose1_to_pose2_press,0.617873573901,9.08621673365e-05,1.06003244653,0.588444024582,0.00876260167001,1.05970058211
+242,4.033333333,pose1_to_pose2_press,0.617873698144,9.08643769664e-05,1.06003244462,0.588444148756,0.00876260366021,1.05970058058
+243,4.050000000,pose1_to_pose2_press,0.617874115828,9.08718053952e-05,1.06003243821,0.588444566208,0.00876261035095,1.05970057541
+244,4.066666667,pose1_to_pose2_press,0.617874467607,9.08384478668e-05,1.06003241918,0.588444918242,0.0087625777657,1.05970055402
+245,4.083333333,pose1_to_pose2_press,0.617874681923,9.08137956628e-05,1.0600324061,0.588445132763,0.00876255373631,1.05970053912
+246,4.100000000,pose1_to_pose2_press,0.61787494375,9.07836784327e-05,1.06003239012,0.58844539484,0.00876252437997,1.05970052092
+247,4.116666667,pose1_to_pose2_press,0.617875213476,9.07526525792e-05,1.06003237366,0.588445664823,0.00876249413795,1.05970050217
+248,4.133333333,pose1_to_pose2_press,0.617875512859,9.08218538591e-05,1.06003235771,0.588445963854,0.0087625622227,1.05970048827
+249,4.150000000,pose1_to_pose2_press,0.617875702403,9.08486215468e-05,1.06003233329,0.588446153456,0.00876258938368,1.05970046907
+250,4.166666667,pose1_to_pose2_press,0.617875712739,9.08253209931e-05,1.06003232093,0.588446164079,0.00876256716036,1.0597004594
+251,4.183333333,pose1_to_pose2_press,0.617875717529,9.08145240879e-05,1.0600323152,0.588446169002,0.00876255686194,1.05970045493
+252,4.200000000,pose1_to_pose2_press,0.617875717529,9.08145240879e-05,1.0600323152,0.588446169002,0.00876255686173,1.05970045493
+253,4.216666667,pose2_hold,0.617875717529,9.08145240879e-05,1.0600323152,0.588446169003,0.00876255686181,1.05970045493
+254,4.233333333,pose2_hold,0.617875717529,9.08145240879e-05,1.0600323152,0.588446169003,0.00876255686171,1.05970045493
+255,4.250000000,pose2_hold,0.617875717529,9.08145240879e-05,1.0600323152,0.588446169003,0.00876255686184,1.05970045493
+256,4.266666667,pose2_hold,0.617875717529,9.08145240879e-05,1.0600323152,0.588446169003,0.00876255686199,1.05970045493
+257,4.283333333,pose2_hold,0.617875717529,9.08145240879e-05,1.0600323152,0.588446169004,0.00876255686172,1.05970045493
+258,4.300000000,pose2_hold,0.617875717529,9.08145240879e-05,1.0600323152,0.588446169004,0.00876255686142,1.05970045493
+259,4.316666667,pose2_hold,0.617875717529,9.08145240879e-05,1.0600323152,0.588446169004,0.00876255686175,1.05970045493
+260,4.333333333,pose2_hold,0.617875717529,9.08145240879e-05,1.0600323152,0.588446169004,0.0087625568617,1.05970045493
+261,4.350000000,pose2_hold,0.617875717529,9.08145240879e-05,1.0600323152,0.588446169004,0.00876255686134,1.05970045493
+262,4.366666667,pose2_hold,0.617875717529,9.08145240879e-05,1.0600323152,0.588446169004,0.00876255686132,1.05970045493
+263,4.383333333,pose2_hold,0.617875717529,9.08145240879e-05,1.0600323152,0.588446169004,0.00876255686146,1.05970045493
+264,4.400000000,pose2_hold,0.617875717529,9.08145240879e-05,1.0600323152,0.588446169004,0.00876255686156,1.05970045493
+265,4.416666667,pose2_hold,0.617875717529,9.08145240879e-05,1.0600323152,0.588446169004,0.00876255686133,1.05970045493
+266,4.433333333,pose2_hold,0.617875717529,9.08145240879e-05,1.0600323152,0.588446169004,0.0087625568616,1.05970045493
+267,4.450000000,pose2_hold,0.617875717529,9.08145240879e-05,1.0600323152,0.588446169004,0.0087625568617,1.05970045493
+268,4.466666667,pose2_hold,0.617875717529,9.08145240879e-05,1.0600323152,0.588446169004,0.00876255686156,1.05970045493
+269,4.483333333,pose2_to_pose3_retreat,0.617875717529,9.08145240879e-05,1.0600323152,0.588446169004,0.00876255686161,1.05970045493
+270,4.500000000,pose2_to_pose3_retreat,0.617875700283,9.08534004117e-05,1.06003233583,0.58844615128,0.00876259394369,1.05970047105
+271,4.516666667,pose2_to_pose3_retreat,0.617875628664,9.08583405736e-05,1.06003235177,0.588446079466,0.00876259809457,1.05970048355
+272,4.533333333,pose2_to_pose3_retreat,0.617875399278,9.07860678986e-05,1.06003236355,0.588445850467,0.00876252704382,1.05970049291
+273,4.550000000,pose2_to_pose3_retreat,0.617875114752,9.07617769642e-05,1.06003237743,0.588445565884,0.00876250258255,1.05970050746
+274,4.566666667,pose2_to_pose3_retreat,0.617874747346,9.07988210673e-05,1.0600323946,0.588445197844,0.00876253764187,1.05970052931
+275,4.583333333,pose2_to_pose3_retreat,0.617874564745,9.08172319505e-05,1.06003240314,0.588445014928,0.00876255506632,1.05970054017
+276,4.600000000,pose2_to_pose3_retreat,0.617874261641,9.08477927386e-05,1.0600324173,0.588444711301,0.0087625839897,1.0597005582
+277,4.616666667,pose2_to_pose3_retreat,0.61787272606,9.08013448812e-05,1.06003252999,0.588443176221,0.00876253890398,1.05970066168
+278,4.633333333,pose2_to_pose3_retreat,0.617867500891,9.08014862966e-05,1.06003250018,0.588437952327,0.00876254337437,1.05970063158
+279,4.650000000,pose2_to_pose3_retreat,0.617856878794,9.08120244334e-05,1.0600323221,0.588427329992,0.00876255331831,1.05970045921
+280,4.666666667,pose2_to_pose3_retreat,0.617837296039,9.07097302978e-05,1.06003215668,0.588407748543,0.00876245546897,1.05970029446
+281,4.683333333,pose2_to_pose3_retreat,0.617807953829,9.06675840441e-05,1.06003209625,0.588378405857,0.0087624114955,1.05970022995
+282,4.700000000,pose2_to_pose3_retreat,0.617767554772,9.06502788796e-05,1.06003221342,0.588338008311,0.00876239911998,1.05970034626
+283,4.716666667,pose2_to_pose3_retreat,0.61771746428,9.08635220782e-05,1.06003207635,0.588287914238,0.00876260052993,1.05970022028
+284,4.733333333,pose2_to_pose3_retreat,0.617657880434,9.090763648e-05,1.06003232899,0.588228330025,0.0087626429434,1.05970046342
+285,4.750000000,pose2_to_pose3_retreat,0.617590886862,9.0769359204e-05,1.06003237643,0.588161336752,0.0087625051025,1.05970049992
+286,4.766666667,pose2_to_pose3_retreat,0.61751634037,9.07227681342e-05,1.06003236778,0.588086791306,0.00876246220048,1.05970049623
+287,4.783333333,pose2_to_pose3_retreat,0.61743180401,9.065351246e-05,1.06003217097,0.588002255129,0.00876239368955,1.05970029653
+288,4.800000000,pose2_to_pose3_retreat,0.617336416547,9.07213522494e-05,1.06003229554,0.587906868131,0.00876246318156,1.05970042366
+289,4.816666667,pose2_to_pose3_retreat,0.617227295498,9.0748223227e-05,1.0600323546,0.587797746867,0.00876248931924,1.05970048492
+290,4.833333333,pose2_to_pose3_retreat,0.617102755233,9.07705347942e-05,1.06003235923,0.587673206755,0.00876251201864,1.05970048846
+291,4.850000000,pose2_to_pose3_retreat,0.61696112322,9.08494132332e-05,1.06003237026,0.58753157408,0.00876258847285,1.05970049702
+292,4.866666667,pose2_to_pose3_retreat,0.616802454728,9.09494701841e-05,1.06003235047,0.587372903377,0.00876268091944,1.05970047657
+293,4.883333333,pose2_to_pose3_retreat,0.616627208065,9.09371103134e-05,1.0600322349,0.587197658504,0.00876267449587,1.05970036158
+294,4.900000000,pose2_to_pose3_retreat,0.616433874874,9.06591295613e-05,1.06003191522,0.587004327572,0.00876240477827,1.05970006156
+295,4.916666667,pose2_to_pose3_retreat,0.616223733042,9.07290813201e-05,1.06003228593,0.586794185653,0.00876247376694,1.05970041836
+296,4.933333333,pose2_to_pose3_retreat,0.615995498782,9.08279012545e-05,1.06003231244,0.586565949425,0.00876256590634,1.05970045074
+297,4.950000000,pose2_to_pose3_retreat,0.615749941952,9.06771777968e-05,1.06003225707,0.58632039325,0.00876241714633,1.0597003929
+298,4.966666667,pose2_to_pose3_retreat,0.615487173618,9.06475075026e-05,1.06003217312,0.586057625547,0.0087623892784,1.05970030514
+299,4.983333333,pose2_to_pose3_retreat,0.615207049268,9.07871294418e-05,1.06003217433,0.585777501023,0.00876252807411,1.05970030573
+300,5.000000000,pose2_to_pose3_retreat,0.614909700018,9.07824249821e-05,1.06003234263,0.585480152471,0.0087625255309,1.05970047214
+301,5.016666667,pose2_to_pose3_retreat,0.614591465079,9.08285715868e-05,1.06003218678,0.585161915017,0.00876256343617,1.05970032862
+302,5.033333333,pose2_to_pose3_retreat,0.614251153202,9.08761813169e-05,1.06003224184,0.584821603234,0.00876261069482,1.05970037069
+303,5.050000000,pose2_to_pose3_retreat,0.613885852805,9.08056189781e-05,1.06003249354,0.584456304763,0.00876254642949,1.05970062141
+304,5.066666667,pose2_to_pose3_retreat,0.613492896475,9.07573381511e-05,1.06003252025,0.584063348657,0.00876249895326,1.05970065244
+305,5.083333333,pose2_to_pose3_retreat,0.613073375421,9.0789585679e-05,1.06003248568,0.583643827166,0.00876252954461,1.05970061438
+306,5.100000000,pose2_to_pose3_retreat,0.612636164703,9.08292731593e-05,1.06003249961,0.583206616197,0.00876256819382,1.05970062346
+307,5.116666667,pose2_to_pose3_retreat,0.612184554057,9.08309284281e-05,1.06003245596,0.582755005074,0.00876256834274,1.05970058256
+308,5.133333333,pose2_to_pose3_retreat,0.611720391244,9.08898267645e-05,1.06003238937,0.582290842338,0.00876262733433,1.05970051155
+309,5.150000000,pose2_to_pose3_retreat,0.611243887041,9.08172605099e-05,1.06003234585,0.581814337676,0.00876255363042,1.05970047883
+310,5.166666667,pose2_to_pose3_retreat,0.610752680695,9.08668825799e-05,1.06003232236,0.581323130711,0.00876260134436,1.05970046048
+311,5.183333333,pose2_to_pose3_retreat,0.61022855634,9.08721762681e-05,1.06003229469,0.580799005917,0.00876260475658,1.05970042279
+312,5.200000000,pose2_to_pose3_retreat,0.609672624043,9.07643977888e-05,1.06003233449,0.580243075095,0.00876250172387,1.0597004562
+313,5.216666667,pose2_to_pose3_retreat,0.609090913271,9.06912999496e-05,1.06003242613,0.579661365415,0.00876243244371,1.05970055068
+314,5.233333333,pose2_to_pose3_retreat,0.608490289257,9.07450950744e-05,1.06003245518,0.57906074112,0.00876248539974,1.05970058278
+315,5.250000000,pose2_to_pose3_retreat,0.607873674623,9.07480254484e-05,1.06003239127,0.578444128097,0.00876249378484,1.05970051936
+316,5.266666667,pose2_to_pose3_retreat,0.60725180415,9.07061272565e-05,1.06003246364,0.577822256005,0.00876244655147,1.05970059474
+317,5.283333333,pose2_to_pose3_retreat,0.606623020107,9.08000681206e-05,1.06003238402,0.577193471887,0.00876254011835,1.05970051185
+318,5.300000000,pose2_to_pose3_retreat,0.60596921942,9.07591689932e-05,1.06003236243,0.576539671643,0.00876250075532,1.0597004919
+319,5.316666667,pose2_to_pose3_retreat,0.605293006472,9.08099815806e-05,1.06003226579,0.575863457555,0.00876254781897,1.05970039872
+320,5.333333333,pose2_to_pose3_retreat,0.604599436914,9.08865567822e-05,1.06003234419,0.575169887797,0.00876262373378,1.05970047784
+321,5.350000000,pose2_to_pose3_retreat,0.603885439067,9.08675950512e-05,1.06003245981,0.574455890102,0.00876260525565,1.05970059215
+322,5.366666667,pose2_to_pose3_retreat,0.603147382577,9.08043411259e-05,1.06003229408,0.573717833473,0.00876254157304,1.05970042659
+323,5.383333333,pose2_to_pose3_retreat,0.602398000401,9.08229299464e-05,1.06003210588,0.572968451714,0.00876256162454,1.05970024006
+324,5.400000000,pose2_to_pose3_retreat,0.601637203611,9.08138864491e-05,1.06003246499,0.572207655085,0.00876255304651,1.0597005978
+325,5.416666667,pose2_to_pose3_retreat,0.600872336377,9.06894412828e-05,1.06003246657,0.571442787949,0.00876242888959,1.05970059579
+326,5.433333333,pose2_to_pose3_retreat,0.600113140163,9.08376031943e-05,1.06003230874,0.57068358992,0.00876257120325,1.05970044881
+327,5.450000000,pose2_to_pose3_retreat,0.599365791271,9.07624533977e-05,1.06003221951,0.569936241962,0.00876249915159,1.0597003563
+328,5.466666667,pose2_to_pose3_retreat,0.598622743324,9.07758006392e-05,1.06003233522,0.56919319559,0.00876251750712,1.0597004629
+329,5.483333333,pose2_to_pose3_retreat,0.597878581777,9.08690912949e-05,1.06003234887,0.568449033362,0.00876260866556,1.05970048118
+330,5.500000000,pose2_to_pose3_retreat,0.597119429806,9.08375412617e-05,1.06003228851,0.567689880174,0.00876257299788,1.0597004211
+331,5.516666667,pose2_to_pose3_retreat,0.596342766697,9.07784883061e-05,1.06003233751,0.566913216797,0.00876251285096,1.05970046516
+332,5.533333333,pose2_to_pose3_retreat,0.595541860554,9.08226006006e-05,1.06003244772,0.566112311445,0.00876255966909,1.05970057634
+333,5.550000000,pose2_to_pose3_retreat,0.594741467469,9.07904122154e-05,1.06003238467,0.565311919195,0.00876253032102,1.05970051391
+334,5.566666667,pose2_to_pose3_retreat,0.593958577041,9.07999353839e-05,1.06003244303,0.564529028386,0.00876253869022,1.05970057367
+335,5.583333333,pose2_to_pose3_retreat,0.593200019798,9.06661762533e-05,1.06003222519,0.563770474341,0.00876241593164,1.05970035941
+336,5.600000000,pose2_to_pose3_retreat,0.592468535167,9.08759649651e-05,1.06003218147,0.563038985699,0.00876261246633,1.05970032486
+337,5.616666667,pose2_to_pose3_retreat,0.591759065229,9.08386364685e-05,1.0600323857,0.562329516089,0.00876257602881,1.05970052317
+338,5.633333333,pose2_to_pose3_retreat,0.591055693978,9.08739151194e-05,1.06003226561,0.561626143611,0.00876260682581,1.0597003948
+339,5.650000000,pose2_to_pose3_retreat,0.590343419093,9.0925830176e-05,1.06003222117,0.560913868295,0.00876265739418,1.05970035336
+340,5.666666667,pose2_to_pose3_retreat,0.589621074318,9.08997311955e-05,1.06003237492,0.560191525045,0.00876263663508,1.05970051134
+341,5.683333333,pose2_to_pose3_retreat,0.58889001249,9.07598464926e-05,1.06003244001,0.559460465079,0.00876250284837,1.05970057057
+342,5.700000000,pose2_to_pose3_retreat,0.58817094083,9.06513652107e-05,1.06003234142,0.558741393814,0.00876239568469,1.05970047183
+343,5.716666667,pose2_to_pose3_retreat,0.58746989414,9.08480800807e-05,1.06003236726,0.558040345888,0.0087625880093,1.05970049436
+344,5.733333333,pose2_to_pose3_retreat,0.5868068953,9.08243156489e-05,1.06003235978,0.557377347688,0.008762566593,1.05970049137
+345,5.750000000,pose2_to_pose3_retreat,0.586176925327,9.07971992204e-05,1.06003243693,0.556747377582,0.00876253922043,1.05970057389
+346,5.766666667,pose2_to_pose3_retreat,0.585575623676,9.08492638112e-05,1.06003231763,0.556146074764,0.00876258694332,1.05970044275
+347,5.783333333,pose2_to_pose3_retreat,0.584988536726,9.08387146856e-05,1.0600322392,0.555558986503,0.00876257205014,1.05970036653
+348,5.800000000,pose2_to_pose3_retreat,0.584409084619,9.08185008477e-05,1.06003238178,0.554979535022,0.00876255415801,1.05970051434
+349,5.816666667,pose2_to_pose3_retreat,0.583828111308,9.07836758993e-05,1.06003250711,0.554398563137,0.00876252416656,1.05970063946
+350,5.833333333,pose2_to_pose3_retreat,0.583251727468,9.07380631203e-05,1.06003234557,0.553822178839,0.00876247694875,1.05970047684
+351,5.850000000,pose2_to_pose3_retreat,0.582693485022,9.08014643259e-05,1.06003232415,0.553263936455,0.00876254061257,1.05970045709
+352,5.866666667,pose2_to_pose3_retreat,0.582161697405,9.0699202011e-05,1.06003222499,0.552732150827,0.00876244532321,1.05970036356
+353,5.883333333,pose2_to_pose3_retreat,0.581660727712,9.08913500729e-05,1.06003258289,0.552231179137,0.00876263045213,1.05970071516
+354,5.900000000,pose2_to_pose3_retreat,0.581185345245,9.07569463502e-05,1.06003225734,0.551755797515,0.0087624990657,1.05970039345
+355,5.916666667,pose2_to_pose3_retreat,0.580733182172,9.07395598706e-05,1.06003239828,0.551303633721,0.0087624790746,1.05970053029
+356,5.933333333,pose2_to_pose3_retreat,0.5803029252,9.07619056852e-05,1.06003229492,0.550873375372,0.00876249678195,1.05970042841
+357,5.950000000,pose2_to_pose3_retreat,0.579895288435,9.07386957759e-05,1.06003221208,0.55046573988,0.00876247786385,1.05970034506
+358,5.966666667,pose2_to_pose3_retreat,0.57951385379,9.07156063968e-05,1.06003210695,0.55008430649,0.00876245914637,1.05970024263
+359,5.983333333,pose2_to_pose3_retreat,0.579157688967,9.07922404049e-05,1.06003200042,0.549728140757,0.00876253294473,1.05970014239
+360,6.000000000,pose2_to_pose3_retreat,0.578826203493,9.09565777187e-05,1.06003220397,0.549396654755,0.00876269536134,1.05970034244
+361,6.016666667,pose2_to_pose3_retreat,0.578513726532,9.07927219624e-05,1.0600322389,0.549084178379,0.00876253318578,1.05970036939
+362,6.033333333,pose2_to_pose3_retreat,0.578217644476,9.09193526775e-05,1.06003231869,0.548788094571,0.00876265398046,1.05970045208
+363,6.050000000,pose2_to_pose3_retreat,0.577936458198,9.08693802382e-05,1.06003234445,0.548506908826,0.00876260586246,1.05970047907
+364,6.066666667,pose2_to_pose3_retreat,0.577670263586,9.07598097671e-05,1.06003228621,0.548240715728,0.00876250128298,1.0597004171
+365,6.083333333,pose2_to_pose3_retreat,0.577420730727,9.070169895e-05,1.06003232891,0.547991183036,0.00876244344273,1.0597004521
+366,6.100000000,pose2_to_pose3_retreat,0.577190434138,9.06811127933e-05,1.06003238749,0.547760886709,0.00876242374485,1.05970051077
+367,6.116666667,pose2_to_pose3_retreat,0.576979972274,9.0695908671e-05,1.06003240059,0.547550425333,0.00876244050108,1.05970053172
+368,6.133333333,pose2_to_pose3_retreat,0.576790624386,9.07579577083e-05,1.0600324174,0.547361076296,0.00876249887126,1.05970055432
+369,6.150000000,pose2_to_pose3_retreat,0.576620974226,9.07915914429e-05,1.06003227511,0.547191425276,0.00876252982766,1.05970041832
+370,6.166666667,pose2_to_pose3_retreat,0.576471922624,9.08563284405e-05,1.06003220737,0.54704237263,0.00876259085685,1.05970034646
+371,6.183333333,pose2_to_pose3_retreat,0.576339416768,9.08564287604e-05,1.06003232217,0.546909866814,0.00876259099816,1.05970045881
+372,6.200000000,pose2_to_pose3_retreat,0.576222772177,9.07034873692e-05,1.06003223427,0.546793225501,0.00876244905668,1.05970036758
+373,6.216666667,pose2_to_pose3_retreat,0.576119927365,9.07726488095e-05,1.06003232342,0.5466903791,0.00876251271763,1.05970045478
+374,6.233333333,pose2_to_pose3_retreat,0.576030198742,9.07767869533e-05,1.06003224023,0.546600649467,0.00876251360543,1.0597003763
+375,6.250000000,pose2_to_pose3_retreat,0.57595385611,9.07303058806e-05,1.0600322242,0.546524307886,0.0087624705569,1.05970035654
+376,6.266666667,pose2_to_pose3_retreat,0.575889454559,9.07133866428e-05,1.06003221192,0.546459907964,0.00876245929537,1.0597003476
+377,6.283333333,pose2_to_pose3_retreat,0.575837448715,9.07259015442e-05,1.06003225719,0.546407901676,0.00876247035526,1.0597003942
+378,6.300000000,pose2_to_pose3_retreat,0.575795168867,9.07438210266e-05,1.06003238169,0.546365620135,0.00876248233363,1.05970051358
+379,6.316666667,pose2_to_pose3_retreat,0.575761702748,9.07819564968e-05,1.06003242415,0.546332153934,0.00876252031545,1.05970055925
+380,6.333333333,pose2_to_pose3_retreat,0.57573520695,9.09151499259e-05,1.0600322695,0.546305656967,0.00876264930225,1.05970039842
+381,6.350000000,pose2_to_pose3_retreat,0.575714758879,9.08711976756e-05,1.06003226231,0.546285208889,0.00876260517821,1.05970038745
+382,6.366666667,pose2_to_pose3_retreat,0.575699055663,9.08196669028e-05,1.06003231943,0.546269506628,0.0087625569562,1.05970044639
+383,6.383333333,pose2_to_pose3_retreat,0.575687423583,9.08018333287e-05,1.06003241197,0.546257875882,0.00876254364442,1.05970053898
+384,6.400000000,pose2_to_pose3_retreat,0.575679627465,9.08139529763e-05,1.06003249973,0.546250080814,0.00876255921369,1.05970062378
+385,6.416666667,pose2_to_pose3_retreat,0.575674258068,9.08127189965e-05,1.06003245795,0.546244710092,0.0087625538836,1.05970059215
+386,6.433333333,pose2_to_pose3_retreat,0.575670997052,9.07669400749e-05,1.06003246033,0.546241449196,0.00876250850266,1.05970059418
+387,6.450000000,pose2_to_pose3_retreat,0.575669199706,9.07067929403e-05,1.06003248315,0.546239652634,0.00876245081244,1.05970061176
+388,6.466666667,pose2_to_pose3_retreat,0.575668353966,9.06784907367e-05,1.06003249389,0.546238807262,0.00876242366633,1.05970062003
+389,6.483333333,pose2_to_pose3_retreat,0.575667999841,9.06666401504e-05,1.06003249839,0.546238453292,0.00876241229982,1.0597006235
+390,6.500000000,pose2_to_pose3_retreat,0.575667879893,9.06744982208e-05,1.0600324981,0.546238333229,0.00876241976583,1.0597006232
+391,6.516666667,pose2_to_pose3_retreat,0.575667818061,9.06806059612e-05,1.06003249763,0.546238271308,0.00876242557514,1.0597006228
+392,6.533333333,pose2_to_pose3_retreat,0.575667618161,9.07003518819e-05,1.06003249613,0.546238071122,0.00876244435623,1.05970062149
+393,6.550000000,pose2_to_pose3_retreat,0.575667318325,9.07299694578e-05,1.06003249388,0.546237770856,0.00876247252662,1.05970061952
+394,6.566666667,pose2_to_pose3_retreat,0.575667257939,9.07359343881e-05,1.06003249342,0.546237710383,0.00876247820009,1.05970061913
+395,6.583333333,pose2_to_pose3_retreat,0.575667134852,9.07480928534e-05,1.0600324925,0.546237587119,0.00876248976447,1.05970061832
+396,6.600000000,pose2_to_pose3_retreat,0.57566679195,9.07819643905e-05,1.06003248992,0.546237243726,0.00876252198097,1.05970061607
+397,6.616666667,pose2_to_pose3_retreat,0.575666568054,9.08040807449e-05,1.06003248824,0.546237019509,0.00876254301667,1.0597006146
+398,6.633333333,pose2_to_pose3_retreat,0.575666545479,9.08063106687e-05,1.06003248807,0.546236996901,0.00876254513763,1.05970061445
+399,6.650000000,pose2_to_pose3_retreat,0.57566654063,9.08067896662e-05,1.06003248803,0.546236992045,0.00876254559323,1.05970061442
+400,6.666666667,pose2_to_pose3_retreat,0.575666388643,9.08218027704e-05,1.06003248689,0.546236839841,0.00876255987276,1.05970061342
+401,6.683333333,pose2_to_pose3_retreat,0.575665873597,9.08726786252e-05,1.06003248302,0.546236324057,0.00876260826271,1.05970061005
+402,6.700000000,pose2_to_pose3_retreat,0.575665613383,9.08926440944e-05,1.06003248199,0.546236063513,0.00876262711067,1.05970060911
+403,6.716666667,pose2_to_pose3_retreat,0.57566544647,9.08823665279e-05,1.06003248508,0.546235896559,0.00876261667319,1.0597006116
+404,6.733333333,pose2_to_pose3_retreat,0.575665349575,9.08764002725e-05,1.06003248687,0.546235799641,0.00876261061411,1.05970061304
+405,6.750000000,pose2_to_pose3_retreat,0.575665049662,9.08579332747e-05,1.06003249242,0.546235499655,0.00876259185978,1.05970061751
+406,6.766666667,pose2_to_pose3_retreat,0.575664985469,9.08539806585e-05,1.06003249361,0.546235435447,0.00876258784567,1.05970061847
+407,6.783333333,pose2_to_pose3_retreat,0.57566486368,9.08464815492e-05,1.06003249586,0.546235313628,0.00876258022988,1.05970062028
+408,6.800000000,pose2_to_pose3_retreat,0.575664696925,9.08362136952e-05,1.06003249895,0.546235146833,0.00876256980227,1.05970062277
+409,6.816666667,pose2_to_pose3_retreat,0.575664626846,9.08363281785e-05,1.06003249807,0.54623507685,0.00876257026277,1.05970062236
+410,6.833333333,pose2_to_pose3_retreat,0.575664368369,9.08493105314e-05,1.06003248867,0.546234819053,0.0087625856929,1.05970061674
+411,6.850000000,pose2_to_pose3_retreat,0.575664338077,9.08762395984e-05,1.0600324324,0.546234788115,0.00876261055302,1.0597005636
+412,6.866666667,pose2_to_pose3_retreat,0.575664300793,9.09106391358e-05,1.06003236041,0.546234750002,0.00876264228971,1.05970049561
+413,6.883333333,pose2_to_pose3_retreat,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266066001,1.05970045625

Part2/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_02/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f3ea44ffc6c548d373a76e9c0b64094ef795800ab3909425fc56ac2d49e75e2
+size 26445911

Part2/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_02/simulation_data.csv

@@ -0,0 +1,417 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+1,0.016666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+2,0.033333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+3,0.050000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+4,0.066666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+5,0.083333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+6,0.100000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+7,0.116666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+8,0.133333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+9,0.150000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+10,0.166666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+11,0.183333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+12,0.200000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+13,0.216666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+14,0.233333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+15,0.250000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+16,0.266666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+17,0.283333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+18,0.300000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+19,0.316666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+20,0.333333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+21,0.350000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+22,0.366666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+23,0.383333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+24,0.400000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+25,0.416666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+26,0.433333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+27,0.450000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+28,0.466666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+29,0.483333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+30,0.500000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+31,0.516666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+32,0.533333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+33,0.550000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+34,0.566666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+35,0.583333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+36,0.600000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+37,0.616666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+38,0.633333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+39,0.650000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+40,0.666666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+41,0.683333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+42,0.700000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+43,0.716666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+44,0.733333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+45,0.750000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+46,0.766666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+47,0.783333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+48,0.800000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+49,0.816666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+50,0.833333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+51,0.850000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+52,0.866666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+53,0.883333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+54,0.900000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+55,0.916666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+56,0.933333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+57,0.950000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+58,0.966666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+59,0.983333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+60,1.000000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+61,1.016666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+62,1.033333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+63,1.050000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+64,1.066666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+65,1.083333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+66,1.100000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+67,1.116666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+68,1.133333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+69,1.150000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+70,1.166666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+71,1.183333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+72,1.200000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+73,1.216666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+74,1.233333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+75,1.250000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+76,1.266666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+77,1.283333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+78,1.300000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+79,1.316666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+80,1.333333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+81,1.350000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+82,1.366666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+83,1.383333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+84,1.400000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+85,1.416666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+86,1.433333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+87,1.450000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+88,1.466666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+89,1.483333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+90,1.500000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+91,1.516666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+92,1.533333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+93,1.550000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+94,1.566666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+95,1.583333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+96,1.600000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+97,1.616666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+98,1.633333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+99,1.650000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+100,1.666666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+101,1.683333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+102,1.700000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+103,1.716666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+104,1.733333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+105,1.750000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+106,1.766666667,pose1_to_pose2_press,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+107,1.783333333,pose1_to_pose2_press,0.575664343301,9.08847329969e-05,1.0600323586,0.546234792736,0.00876261715188,1.05970049385
+108,1.800000000,pose1_to_pose2_press,0.575664381296,9.08575697406e-05,1.06003238223,0.54623483115,0.00876259135791,1.05970051614
+109,1.816666667,pose1_to_pose2_press,0.575664547251,9.07418020265e-05,1.06003248377,0.546234998887,0.0087624814174,1.0597006119
+110,1.833333333,pose1_to_pose2_press,0.575664561534,9.07466667507e-05,1.0600324839,0.546235013085,0.00876248599178,1.05970061196
+111,1.850000000,pose1_to_pose2_press,0.57566461111,9.07635524422e-05,1.06003248436,0.546235062366,0.00876250186968,1.05970061219
+112,1.866666667,pose1_to_pose2_press,0.575664783989,9.08224354958e-05,1.06003248595,0.546235234219,0.00876255723839,1.05970061296
+113,1.883333333,pose1_to_pose2_press,0.575665215248,9.08502748532e-05,1.0600324682,0.546235664786,0.00876258270095,1.05970059445
+114,1.900000000,pose1_to_pose2_press,0.575666175003,9.06577472078e-05,1.06003238225,0.546236626997,0.00876239854326,1.05970050954
+115,1.916666667,pose1_to_pose2_press,0.575670021282,9.06578652647e-05,1.06003255105,0.546240474678,0.00876240357329,1.05970068223
+116,1.933333333,pose1_to_pose2_press,0.575678304684,9.07273418762e-05,1.06003252227,0.546248758039,0.00876247295662,1.05970065469
+117,1.950000000,pose1_to_pose2_press,0.57569530427,9.08221988258e-05,1.06003241108,0.54626575458,0.00876255686098,1.05970052721
+118,1.966666667,pose1_to_pose2_press,0.575721735142,9.0849491062e-05,1.06003239595,0.546292185061,0.0087625829673,1.05970051569
+119,1.983333333,pose1_to_pose2_press,0.575758115565,9.08271961438e-05,1.06003246262,0.546328567262,0.00876256697394,1.05970058932
+120,2.000000000,pose1_to_pose2_press,0.57580346563,9.07685169842e-05,1.06003234567,0.546373916089,0.00876250426936,1.05970047678
+121,2.016666667,pose1_to_pose2_press,0.575858008752,9.07094653315e-05,1.06003248851,0.546428460324,0.00876244873451,1.05970061282
+122,2.033333333,pose1_to_pose2_press,0.575919098937,9.06908646509e-05,1.06003234035,0.546489552409,0.00876243685792,1.05970047187
+123,2.050000000,pose1_to_pose2_press,0.575986879785,9.08886587253e-05,1.06003218888,0.546557329159,0.00876262116136,1.05970033117
+124,2.066666667,pose1_to_pose2_press,0.576065541508,9.06482380973e-05,1.06003232435,0.546635993993,0.00876239093956,1.05970045716
+125,2.083333333,pose1_to_pose2_press,0.576154689649,9.06913950064e-05,1.0600324439,0.546725142581,0.00876243555975,1.05970057527
+126,2.100000000,pose1_to_pose2_press,0.576256313626,9.06890566262e-05,1.06003246386,0.546826766598,0.00876243338977,1.05970059608
+127,2.116666667,pose1_to_pose2_press,0.576372641432,9.07980825497e-05,1.06003230183,0.546943093022,0.00876253781649,1.05970043639
+128,2.133333333,pose1_to_pose2_press,0.576505750001,9.08767313796e-05,1.06003234942,0.547076201162,0.00876261503926,1.05970048472
+129,2.150000000,pose1_to_pose2_press,0.576655207422,9.08371477769e-05,1.06003240997,0.54722565786,0.00876257287206,1.05970054184
+130,2.166666667,pose1_to_pose2_press,0.576821475991,9.08733375667e-05,1.06003236342,0.547391925507,0.00876260577733,1.05970049113
+131,2.183333333,pose1_to_pose2_press,0.577008313035,9.09163459462e-05,1.0600322627,0.547578763977,0.00876265370851,1.05970039253
+132,2.200000000,pose1_to_pose2_press,0.577213627023,9.07685244436e-05,1.06003214421,0.547784079631,0.00876251164146,1.05970027661
+133,2.216666667,pose1_to_pose2_press,0.577438035739,9.07273992686e-05,1.06003219768,0.548008487346,0.00876246713072,1.05970033035
+134,2.233333333,pose1_to_pose2_press,0.577681203373,9.07387578143e-05,1.06003207757,0.548251655356,0.00876248043938,1.05970022778
+135,2.250000000,pose1_to_pose2_press,0.577943311599,9.07480075175e-05,1.06003230297,0.548513763002,0.00876248724072,1.05970044056
+136,2.266666667,pose1_to_pose2_press,0.578223224816,9.08750528118e-05,1.0600321568,0.548793674823,0.00876260982999,1.05970030174
+137,2.283333333,pose1_to_pose2_press,0.578521442405,9.08309127618e-05,1.06003205692,0.549091893672,0.00876256994172,1.05970020109
+138,2.300000000,pose1_to_pose2_press,0.578842943996,9.09407886579e-05,1.06003240953,0.549413393684,0.00876267412659,1.05970054497
+139,2.316666667,pose1_to_pose2_press,0.579183400177,9.08669814082e-05,1.06003225055,0.549753850914,0.0087626039273,1.05970038722
+140,2.333333333,pose1_to_pose2_press,0.579541709724,9.08235888753e-05,1.06003211463,0.550112160885,0.00876256204469,1.0597002531
+141,2.350000000,pose1_to_pose2_press,0.579916085838,9.06889210039e-05,1.06003232069,0.55048654028,0.00876243837405,1.0597004554
+142,2.366666667,pose1_to_pose2_press,0.58030571866,9.06997079559e-05,1.06003232186,0.550876172203,0.0087624462067,1.05970045909
+143,2.383333333,pose1_to_pose2_press,0.58071485355,9.0828781702e-05,1.06003227129,0.551285304244,0.00876256545771,1.0597004045
+144,2.400000000,pose1_to_pose2_press,0.581147252486,9.08815159092e-05,1.06003233709,0.551717702904,0.00876261691002,1.05970046114
+145,2.416666667,pose1_to_pose2_press,0.581610749761,9.08424179381e-05,1.06003224593,0.552181200505,0.00876257921272,1.0597003777
+146,2.433333333,pose1_to_pose2_press,0.582100413451,9.082810049e-05,1.06003233733,0.552670865062,0.00876256776256,1.05970046702
+147,2.450000000,pose1_to_pose2_press,0.582613613981,9.06667906805e-05,1.06003226215,0.553184065994,0.00876240773934,1.05970038978
+148,2.466666667,pose1_to_pose2_press,0.583141682683,9.07959429774e-05,1.06003248279,0.553712133819,0.00876253388912,1.05970060963
+149,2.483333333,pose1_to_pose2_press,0.583683255139,9.07405030554e-05,1.06003233853,0.554253706481,0.00876247950917,1.05970047483
+150,2.500000000,pose1_to_pose2_press,0.584242970862,9.08260620425e-05,1.06003235672,0.554813423154,0.0087625680896,1.05970048767
+151,2.516666667,pose1_to_pose2_press,0.584825525502,9.07634073658e-05,1.06003254811,0.555395977281,0.0087625035445,1.05970067513
+152,2.533333333,pose1_to_pose2_press,0.58543567734,9.06517417984e-05,1.06003258794,0.556006132036,0.00876240195458,1.05970071952
+153,2.550000000,pose1_to_pose2_press,0.586065831797,9.07503107004e-05,1.06003250065,0.556636285954,0.00876249884431,1.05970063607
+154,2.566666667,pose1_to_pose2_press,0.586711492615,9.08161852755e-05,1.06003241538,0.557281945327,0.00876255954388,1.05970054376
+155,2.583333333,pose1_to_pose2_press,0.587353757136,9.07002330192e-05,1.06003237975,0.557924209696,0.00876244288376,1.05970050304
+156,2.600000000,pose1_to_pose2_press,0.587995384594,9.06752464675e-05,1.06003241914,0.558565836707,0.00876241642972,1.05970054371
+157,2.616666667,pose1_to_pose2_press,0.588650043445,9.08235563924e-05,1.06003245587,0.559220494779,0.00876256221843,1.05970058366
+158,2.633333333,pose1_to_pose2_press,0.589322719433,9.08012378324e-05,1.06003235135,0.559893171265,0.00876254188606,1.05970048683
+159,2.650000000,pose1_to_pose2_press,0.590015410448,9.08059909294e-05,1.0600324396,0.560585862307,0.00876254668256,1.0597005739
+160,2.666666667,pose1_to_pose2_press,0.590736513673,9.07102522355e-05,1.06003221084,0.561306966271,0.00876245354895,1.05970034758
+161,2.683333333,pose1_to_pose2_press,0.591479669226,9.07624665997e-05,1.0600320952,0.562050119624,0.00876249831864,1.05970023253
+162,2.700000000,pose1_to_pose2_press,0.592225847333,9.08455860707e-05,1.06003228627,0.562796298296,0.00876258339627,1.05970042473
+163,2.716666667,pose1_to_pose2_press,0.59297254458,9.07615686053e-05,1.06003211517,0.563542996041,0.00876250113802,1.05970025543
+164,2.733333333,pose1_to_pose2_press,0.593716154447,9.07362501853e-05,1.06003200534,0.564286606854,0.00876247883363,1.05970014046
+165,2.750000000,pose1_to_pose2_press,0.594450662351,9.06551861243e-05,1.06003188014,0.565021115579,0.0087624007334,1.05970001992
+166,2.766666667,pose1_to_pose2_press,0.595174336587,9.06813947903e-05,1.06003196828,0.565744789453,0.00876242555945,1.05970010404
+167,2.783333333,pose1_to_pose2_press,0.595909480352,9.07391486585e-05,1.06003220087,0.566479932638,0.00876248115387,1.05970033167
+168,2.800000000,pose1_to_pose2_press,0.596657580571,9.07195686129e-05,1.06003228761,0.567228033068,0.00876246254884,1.05970042523
+169,2.816666667,pose1_to_pose2_press,0.597417095704,9.07546571041e-05,1.06003220067,0.56798754805,0.0087624971583,1.05970033924
+170,2.833333333,pose1_to_pose2_press,0.598194376648,9.07704260335e-05,1.06003221478,0.568764827972,0.00876250922922,1.05970034745
+171,2.850000000,pose1_to_pose2_press,0.598993466305,9.08331559033e-05,1.0600322138,0.569563917883,0.0087625730414,1.05970035219
+172,2.866666667,pose1_to_pose2_press,0.599782394121,9.06775026574e-05,1.06003233826,0.570352846833,0.00876242096028,1.05970046955
+173,2.883333333,pose1_to_pose2_press,0.60055754362,9.08146167463e-05,1.06003216206,0.571127994265,0.00876255058606,1.05970028104
+174,2.900000000,pose1_to_pose2_press,0.601305355896,9.0770625987e-05,1.06003232552,0.571875807715,0.00876251109505,1.05970045806
+175,2.916666667,pose1_to_pose2_press,0.602027551045,9.08486212338e-05,1.06003225479,0.572598000901,0.00876258237175,1.0597003859
+176,2.933333333,pose1_to_pose2_press,0.602731195558,9.08172886738e-05,1.06003240559,0.573301646849,0.00876255584557,1.05970053511
+177,2.950000000,pose1_to_pose2_press,0.603436804423,9.07931640007e-05,1.06003239407,0.574007256203,0.00876253349366,1.05970052659
+178,2.966666667,pose1_to_pose2_press,0.604154115407,9.07867165798e-05,1.06003225979,0.574724566291,0.00876252423425,1.05970039841
+179,2.983333333,pose1_to_pose2_press,0.604882489338,9.07854315334e-05,1.06003220351,0.575452939984,0.00876252214599,1.05970034229
+180,3.000000000,pose1_to_pose2_press,0.605613320339,9.08011996709e-05,1.0600322327,0.57618377063,0.00876253644649,1.05970036468
+181,3.016666667,pose1_to_pose2_press,0.606326701363,9.08250372798e-05,1.06003232627,0.576897151639,0.00876256019977,1.05970045745
+182,3.033333333,pose1_to_pose2_press,0.607010374797,9.08775858984e-05,1.06003250881,0.577580826104,0.00876261626182,1.05970064044
+183,3.050000000,pose1_to_pose2_press,0.607655673236,9.09371219091e-05,1.06003252411,0.578226122979,0.00876267024432,1.05970064947
+184,3.066666667,pose1_to_pose2_press,0.608271266734,9.084710744e-05,1.06003219922,0.578841716467,0.00876258053324,1.05970033349
+185,3.083333333,pose1_to_pose2_press,0.608857300704,9.07970953606e-05,1.06003206684,0.579427752111,0.00876253653749,1.05970020998
+186,3.100000000,pose1_to_pose2_press,0.609428102301,9.0830731444e-05,1.06003242985,0.579998554326,0.00876257170756,1.05970055828
+187,3.116666667,pose1_to_pose2_press,0.60998661357,9.06822406785e-05,1.06003223676,0.580557065634,0.00876242319461,1.05970036124
+188,3.133333333,pose1_to_pose2_press,0.610536614314,9.07851992146e-05,1.06003225852,0.581107064514,0.00876252002747,1.05970038833
+189,3.150000000,pose1_to_pose2_press,0.61108243401,9.08247265066e-05,1.06003234617,0.581652885038,0.00876256247448,1.05970047891
+190,3.166666667,pose1_to_pose2_press,0.611623087713,9.07458046092e-05,1.06003240117,0.582193540454,0.00876248936894,1.05970053407
+191,3.183333333,pose1_to_pose2_press,0.612142339485,9.07388155794e-05,1.06003247403,0.582712791699,0.00876248056447,1.0597006063
+192,3.200000000,pose1_to_pose2_press,0.612636546048,9.07274445427e-05,1.06003248774,0.583206997941,0.00876246795498,1.05970061596
+193,3.216666667,pose1_to_pose2_press,0.613096939227,9.06869091187e-05,1.06003246691,0.583667390893,0.0087624267572,1.05970059686
+194,3.233333333,pose1_to_pose2_press,0.613529765438,9.08791136701e-05,1.06003240963,0.584100216513,0.00876261759769,1.05970055377
+195,3.250000000,pose1_to_pose2_press,0.613940327194,9.08804888542e-05,1.06003233478,0.584510777268,0.00876261539964,1.05970047138
+196,3.266666667,pose1_to_pose2_press,0.614337033548,9.0883427344e-05,1.06003254745,0.584907483726,0.00876261849651,1.05970067457
+197,3.283333333,pose1_to_pose2_press,0.614721732514,9.08533542327e-05,1.06003237714,0.585292181919,0.00876258598979,1.0597005033
+198,3.300000000,pose1_to_pose2_press,0.615093022944,9.08398479768e-05,1.06003229845,0.585663473275,0.00876257605119,1.05970043061
+199,3.316666667,pose1_to_pose2_press,0.615447607271,9.07817003338e-05,1.06003221928,0.586018059077,0.00876252322861,1.05970035594
+200,3.333333333,pose1_to_pose2_press,0.615775390224,9.07532420572e-05,1.06003214356,0.58634584217,0.00876249540625,1.05970027863
+201,3.350000000,pose1_to_pose2_press,0.616077980988,9.08366480567e-05,1.06003222041,0.586648432322,0.00876257696814,1.0597003538
+202,3.366666667,pose1_to_pose2_press,0.616355289618,9.08777249886e-05,1.06003222751,0.586925740735,0.00876261771613,1.05970036616
+203,3.383333333,pose1_to_pose2_press,0.616614095955,9.07243282326e-05,1.0600324281,0.587184547929,0.00876246737728,1.05970056652
+204,3.400000000,pose1_to_pose2_press,0.616856361135,9.08653439347e-05,1.06003233769,0.587426811973,0.00876260463838,1.05970047462
+205,3.416666667,pose1_to_pose2_press,0.617087939847,9.07874054165e-05,1.0600323635,0.587658391401,0.00876252890902,1.05970049067
+206,3.433333333,pose1_to_pose2_press,0.617307602212,9.08988956751e-05,1.06003221604,0.587878051726,0.00876263364885,1.059700343
+207,3.450000000,pose1_to_pose2_press,0.617510518294,9.08605555541e-05,1.06003225345,0.588080968211,0.00876259700495,1.05970038518
+208,3.466666667,pose1_to_pose2_press,0.617696012924,9.08165120714e-05,1.06003233616,0.588266464153,0.00876255763997,1.05970047064
+209,3.483333333,pose1_to_pose2_press,0.617863042496,9.0846650854e-05,1.06003228171,0.58843349303,0.00876258554471,1.05970041583
+210,3.500000000,pose1_to_pose2_press,0.618011368278,9.08018163619e-05,1.0600321771,0.588581817602,0.00876253672587,1.05970031057
+211,3.516666667,pose1_to_pose2_press,0.618142397419,9.07253218127e-05,1.06003212644,0.588712847229,0.0087624620275,1.05970026048
+212,3.533333333,pose1_to_pose2_press,0.618259310132,9.07165241625e-05,1.0600322428,0.588829762042,0.0087624603841,1.05970037556
+213,3.550000000,pose1_to_pose2_press,0.618363627459,9.09583513953e-05,1.06003235822,0.588934075913,0.00876269041764,1.05970048856
+214,3.566666667,pose1_to_pose2_press,0.6184551653,9.09323529141e-05,1.0600322232,0.589025614948,0.00876266882484,1.0597003592
+215,3.583333333,pose1_to_pose2_press,0.618535516071,9.08512180541e-05,1.06003221226,0.589105964696,0.00876258450327,1.05970034747
+216,3.600000000,pose1_to_pose2_press,0.618604523638,9.08732151175e-05,1.06003234763,0.589174972128,0.00876260552755,1.05970047319
+217,3.616666667,pose1_to_pose2_press,0.6186625454,9.0839833102e-05,1.06003237683,0.589232994361,0.00876257359233,1.05970050237
+218,3.633333333,pose1_to_pose2_press,0.618710489355,9.08292741856e-05,1.06003227004,0.589280938912,0.00876256537349,1.05970040415
+219,3.650000000,pose1_to_pose2_press,0.618749074122,9.08660641293e-05,1.0600321495,0.589319523583,0.00876260206252,1.05970028778
+220,3.666666667,pose1_to_pose2_press,0.618780460927,9.09108436665e-05,1.06003212113,0.589350909658,0.0087626443835,1.05970025738
+221,3.683333333,pose1_to_pose2_press,0.6188049909,9.09255150446e-05,1.06003222868,0.589375439248,0.008762657848,1.05970036412
+222,3.700000000,pose1_to_pose2_press,0.618824438056,9.08347365893e-05,1.06003256835,0.589394888146,0.00876257260024,1.0597006945
+223,3.716666667,pose1_to_pose2_press,0.618839038872,9.08311298041e-05,1.0600322639,0.589409487946,0.00876256575113,1.05970039456
+224,3.733333333,pose1_to_pose2_press,0.618849317558,9.0823684642e-05,1.0600321882,0.589419767148,0.0087625601063,1.05970032106
+225,3.750000000,pose1_to_pose2_press,0.618856468553,9.08052816947e-05,1.06003233164,0.589426919871,0.00876254745565,1.05970046357
+226,3.766666667,pose1_to_pose2_press,0.618861261301,9.08655715272e-05,1.06003236484,0.589431710963,0.008762601985,1.05970049302
+227,3.783333333,pose1_to_pose2_press,0.618864780804,9.0919880729e-05,1.06003238053,0.589435228861,0.00876265073523,1.05970050551
+228,3.800000000,pose1_to_pose2_press,0.618867220055,9.07991094491e-05,1.06003232701,0.589437669906,0.00876253615368,1.05970045408
+229,3.816666667,pose1_to_pose2_press,0.618869163133,9.06627498721e-05,1.06003226805,0.589439615147,0.00876240727036,1.05970039788
+230,3.833333333,pose1_to_pose2_press,0.618870545122,9.0565765815e-05,1.06003222611,0.589440998676,0.0087623156037,1.05970035791
+231,3.850000000,pose1_to_pose2_press,0.61887120105,9.06147747109e-05,1.06003221704,0.589441654308,0.00876236367937,1.05970035051
+232,3.866666667,pose1_to_pose2_press,0.618871565726,9.06538714434e-05,1.06003221334,0.589442018691,0.00876240182625,1.05970034783
+233,3.883333333,pose1_to_pose2_press,0.618871840838,9.06833659888e-05,1.06003221055,0.589442293581,0.00876243060422,1.05970034581
+234,3.900000000,pose1_to_pose2_press,0.618872181303,9.07198670903e-05,1.0600322071,0.589442633773,0.00876246621853,1.05970034331
+235,3.916666667,pose1_to_pose2_press,0.618872596398,9.076436929e-05,1.0600322029,0.589443048535,0.00876250963955,1.05970034027
+236,3.933333333,pose1_to_pose2_press,0.618872981289,9.08056331852e-05,1.060032199,0.589443433116,0.00876254990094,1.05970033744
+237,3.950000000,pose1_to_pose2_press,0.618873289388,9.08386643342e-05,1.06003219588,0.589443740967,0.0087625821296,1.05970033518
+238,3.966666667,pose1_to_pose2_press,0.618873489658,9.08568447152e-05,1.06003219802,0.589443941093,0.00876259983566,1.05970033767
+239,3.983333333,pose1_to_pose2_press,0.618873549526,9.08536468506e-05,1.0600322096,0.589444000962,0.00876259662014,1.05970034878
+240,4.000000000,pose1_to_pose2_press,0.618873651442,9.08482030347e-05,1.06003222931,0.58944410288,0.00876259114626,1.05970036771
+241,4.016666667,pose1_to_pose2_press,0.618873791822,9.08407046734e-05,1.06003225646,0.589444243261,0.00876258360649,1.05970039377
+242,4.033333333,pose1_to_pose2_press,0.618873946824,9.08324253269e-05,1.06003228644,0.589444398265,0.00876257528142,1.05970042255
+243,4.050000000,pose1_to_pose2_press,0.618873997563,9.08297151073e-05,1.06003229625,0.589444449005,0.00876257255624,1.05970043197
+244,4.066666667,pose1_to_pose2_press,0.618874211158,9.0818305981e-05,1.06003233756,0.589444662603,0.00876256108411,1.05970047163
+245,4.083333333,pose1_to_pose2_press,0.618874485864,9.08036326473e-05,1.06003239069,0.589444937312,0.00876254632974,1.05970052264
+246,4.100000000,pose1_to_pose2_press,0.618874824506,9.07855442016e-05,1.06003245618,0.589445275958,0.00876252814141,1.05970058551
+247,4.116666667,pose1_to_pose2_press,0.618875095461,9.07785649852e-05,1.06003239004,0.589445546759,0.00876252074161,1.05970052191
+248,4.133333333,pose1_to_pose2_press,0.618875200605,9.07787842342e-05,1.06003231806,0.589445651783,0.00876252066456,1.05970045272
+249,4.150000000,pose1_to_pose2_press,0.618875262563,9.0778913429e-05,1.06003227564,0.58944571367,0.00876252061917,1.05970041196
+250,4.166666667,pose1_to_pose2_press,0.618875388975,9.07756166705e-05,1.06003219648,0.589445839895,0.00876251681412,1.05970033586
+251,4.183333333,pose1_to_pose2_press,0.618875533612,9.07320002322e-05,1.06003218853,0.589445983851,0.00876247091434,1.059700328
+252,4.200000000,pose1_to_pose2_press,0.618875680122,9.08395475411e-05,1.06003248688,0.589446128399,0.00876257133601,1.05970061394
+253,4.216666667,pose2_hold,0.618875680122,9.08395475411e-05,1.06003248688,0.589446128401,0.00876257133588,1.05970061394
+254,4.233333333,pose2_hold,0.618875680122,9.08395475411e-05,1.06003248688,0.589446128401,0.00876257133593,1.05970061394
+255,4.250000000,pose2_hold,0.618875680122,9.08395475411e-05,1.06003248688,0.589446128401,0.00876257133595,1.05970061394
+256,4.266666667,pose2_hold,0.618875680122,9.08395475411e-05,1.06003248688,0.589446128401,0.00876257133595,1.05970061394
+257,4.283333333,pose2_hold,0.618875680122,9.08395475411e-05,1.06003248688,0.589446128402,0.00876257133532,1.05970061394
+258,4.300000000,pose2_hold,0.618875680122,9.08395475411e-05,1.06003248688,0.589446128401,0.00876257133587,1.05970061394
+259,4.316666667,pose2_hold,0.618875680122,9.08395475411e-05,1.06003248688,0.589446128402,0.00876257133535,1.05970061394
+260,4.333333333,pose2_hold,0.618875680122,9.08395475411e-05,1.06003248688,0.589446128401,0.00876257133585,1.05970061394
+261,4.350000000,pose2_hold,0.618875680122,9.08395475411e-05,1.06003248688,0.589446128402,0.00876257133537,1.05970061394
+262,4.366666667,pose2_hold,0.618875680122,9.08395475411e-05,1.06003248688,0.589446128402,0.00876257133539,1.05970061394
+263,4.383333333,pose2_hold,0.618875680122,9.08395475411e-05,1.06003248688,0.589446128402,0.00876257133541,1.05970061394
+264,4.400000000,pose2_hold,0.618875680122,9.08395475411e-05,1.06003248688,0.589446128402,0.00876257133543,1.05970061394
+265,4.416666667,pose2_hold,0.618875680122,9.08395475411e-05,1.06003248688,0.589446128402,0.00876257133544,1.05970061394
+266,4.433333333,pose2_hold,0.618875680122,9.08395475411e-05,1.06003248688,0.589446128402,0.00876257133567,1.05970061394
+267,4.450000000,pose2_hold,0.618875680122,9.08395475411e-05,1.06003248688,0.589446128401,0.008762571336,1.05970061394
+268,4.466666667,pose2_hold,0.618875680122,9.08395475411e-05,1.06003248688,0.589446128402,0.00876257133568,1.05970061394
+269,4.483333333,pose2_hold,0.618875680122,9.08395475411e-05,1.06003248688,0.589446128402,0.00876257133555,1.05970061394
+270,4.500000000,pose2_hold,0.618875680122,9.08395475411e-05,1.06003248688,0.589446128402,0.0087625713355,1.05970061394
+271,4.516666667,pose2_to_pose3_retreat,0.618875709408,9.0797254334e-05,1.06003247496,0.589446157791,0.00876252940665,1.05970060255
+272,4.533333333,pose2_to_pose3_retreat,0.618875687987,9.08072954744e-05,1.06003238478,0.589446136874,0.00876254123625,1.05970051438
+273,4.550000000,pose2_to_pose3_retreat,0.618875673311,9.08141754884e-05,1.06003232299,0.589446122542,0.00876254934168,1.05970045396
+274,4.566666667,pose2_to_pose3_retreat,0.618875487615,9.0781252775e-05,1.06003228338,0.589445937835,0.0087625197155,1.05970041262
+275,4.583333333,pose2_to_pose3_retreat,0.618875238034,9.07164733668e-05,1.06003237975,0.589445688836,0.00876245669385,1.0597005033
+276,4.600000000,pose2_to_pose3_retreat,0.618874955448,9.07111450417e-05,1.06003233553,0.589445406803,0.00876245336864,1.0597004625
+277,4.616666667,pose2_to_pose3_retreat,0.61887469236,9.07061843588e-05,1.06003229436,0.58944514423,0.00876245027286,1.05970042452
+278,4.633333333,pose2_to_pose3_retreat,0.618872984946,9.06895815813e-05,1.06003215131,0.589443438188,0.00876243862959,1.05970028935
+279,4.650000000,pose2_to_pose3_retreat,0.618868152587,9.07552134207e-05,1.06003218268,0.58943860403,0.00876249794829,1.05970031563
+280,4.666666667,pose2_to_pose3_retreat,0.618857125126,9.0730061853e-05,1.06003246458,0.589427576173,0.00876247115435,1.05970059077
+281,4.683333333,pose2_to_pose3_retreat,0.61883822601,9.08077607321e-05,1.06003233167,0.589408675917,0.00876254528605,1.05970046582
+282,4.700000000,pose2_to_pose3_retreat,0.61880912144,9.07520745835e-05,1.06003242957,0.589379572125,0.00876249208061,1.05970055951
+283,4.716666667,pose2_to_pose3_retreat,0.618769607104,9.09486074137e-05,1.06003199797,0.589340054316,0.00876267691956,1.05970013111
+284,4.733333333,pose2_to_pose3_retreat,0.618718319207,9.0927430876e-05,1.06003226027,0.589288767966,0.00876266078957,1.05970038876
+285,4.750000000,pose2_to_pose3_retreat,0.618657978987,9.07795993748e-05,1.06003238416,0.589228429704,0.0087625197969,1.05970051415
+286,4.766666667,pose2_to_pose3_retreat,0.618589439484,9.07602355124e-05,1.06003246278,0.589159890204,0.00876250053549,1.05970059614
+287,4.783333333,pose2_to_pose3_retreat,0.618512296628,9.0759419285e-05,1.06003244768,0.589082746971,0.00876249854283,1.05970058293
+288,4.800000000,pose2_to_pose3_retreat,0.618426388177,9.07392352069e-05,1.06003247486,0.588996838117,0.00876247649174,1.05970060707
+289,4.816666667,pose2_to_pose3_retreat,0.618328210823,9.08066210677e-05,1.06003259179,0.58889866124,0.00876254522726,1.05970071929
+290,4.833333333,pose2_to_pose3_retreat,0.618216880909,9.09208556906e-05,1.06003242554,0.588787329158,0.00876265205928,1.05970055397
+291,4.850000000,pose2_to_pose3_retreat,0.618088628907,9.08500300967e-05,1.06003217773,0.588659078148,0.00876258479503,1.05970031377
+292,4.866666667,pose2_to_pose3_retreat,0.617943133999,9.08140110893e-05,1.0600323172,0.588513584913,0.008762554498,1.05970045773
+293,4.883333333,pose2_to_pose3_retreat,0.617779115726,9.07996313895e-05,1.06003241583,0.588349566813,0.00876254039738,1.05970055179
+294,4.900000000,pose2_to_pose3_retreat,0.617597644568,9.07219096319e-05,1.06003225921,0.588168095782,0.00876246284278,1.05970039198
+295,4.916666667,pose2_to_pose3_retreat,0.617399255897,9.07083809159e-05,1.06003233559,0.587969707839,0.00876245183984,1.05970047441
+296,4.933333333,pose2_to_pose3_retreat,0.61718302976,9.08046471031e-05,1.06003242898,0.587753479859,0.0087625415968,1.05970056543
+297,4.950000000,pose2_to_pose3_retreat,0.616948911702,9.06856377866e-05,1.06003230989,0.587519363444,0.00876242806321,1.0597004485
+298,4.966666667,pose2_to_pose3_retreat,0.616695095079,9.07471740138e-05,1.06003246192,0.587265547568,0.00876249167281,1.05970059214
+299,4.983333333,pose2_to_pose3_retreat,0.616423034531,9.07072153053e-05,1.0600324671,0.586993486484,0.00876244975649,1.05970059882
+300,5.000000000,pose2_to_pose3_retreat,0.616133146701,9.07811670067e-05,1.06003237267,0.586703597262,0.00876251895229,1.05970050923
+301,5.016666667,pose2_to_pose3_retreat,0.615825705566,9.08383677355e-05,1.06003219549,0.586396155511,0.00876257404533,1.05970033728
+302,5.033333333,pose2_to_pose3_retreat,0.615501378671,9.0806999995e-05,1.06003208041,0.586071829321,0.00876254478293,1.05970022019
+303,5.050000000,pose2_to_pose3_retreat,0.615155686392,9.07686885862e-05,1.06003214065,0.585726137959,0.00876250895065,1.05970027011
+304,5.066666667,pose2_to_pose3_retreat,0.614785978251,9.08747345548e-05,1.06003223775,0.585356428869,0.00876261153989,1.05970036725
+305,5.083333333,pose2_to_pose3_retreat,0.614389016796,9.06627533355e-05,1.06003221858,0.584959469966,0.00876240822719,1.05970035338
+306,5.100000000,pose2_to_pose3_retreat,0.61396598352,9.08812555572e-05,1.06003231651,0.584536433256,0.00876261480767,1.05970045031
+307,5.116666667,pose2_to_pose3_retreat,0.613518928188,9.07847037349e-05,1.06003224193,0.584089379497,0.00876252367042,1.05970038122
+308,5.133333333,pose2_to_pose3_retreat,0.61305532006,9.0852119514e-05,1.06003233639,0.583625769616,0.00876258449467,1.0597004606
+309,5.150000000,pose2_to_pose3_retreat,0.61257798106,9.08416387295e-05,1.06003238403,0.583148430126,0.00876257227754,1.05970050694
+310,5.166666667,pose2_to_pose3_retreat,0.612086879493,9.07437895514e-05,1.06003229826,0.582657330201,0.00876248044097,1.0597004326
+311,5.183333333,pose2_to_pose3_retreat,0.611580449114,9.0791599672e-05,1.06003228208,0.582150899998,0.00876252865351,1.0597004111
+312,5.200000000,pose2_to_pose3_retreat,0.611056404866,9.08356171241e-05,1.06003253626,0.581626856459,0.00876257458777,1.05970065219
+313,5.216666667,pose2_to_pose3_retreat,0.610500385436,9.07981624766e-05,1.06003226004,0.58107083727,0.00876253854438,1.05970039164
+314,5.233333333,pose2_to_pose3_retreat,0.609914050518,9.07825087166e-05,1.06003211757,0.58048450184,0.00876252126544,1.05970025238
+315,5.250000000,pose2_to_pose3_retreat,0.60930643278,9.08077846493e-05,1.06003234915,0.579876882482,0.0087625408728,1.05970047991
+316,5.266666667,pose2_to_pose3_retreat,0.608680067277,9.07187251831e-05,1.06003229053,0.579250518602,0.00876245770234,1.05970043113
+317,5.283333333,pose2_to_pose3_retreat,0.608034215725,9.06218982473e-05,1.06003216879,0.578604669427,0.00876236910606,1.05970031305
+318,5.300000000,pose2_to_pose3_retreat,0.607381928554,9.07468695857e-05,1.06003220293,0.577952381494,0.00876249121664,1.05970033985
+319,5.316666667,pose2_to_pose3_retreat,0.606722849296,9.09573011421e-05,1.06003222541,0.577293299869,0.008762693482,1.05970035916
+320,5.333333333,pose2_to_pose3_retreat,0.606040075622,9.07233468658e-05,1.06003224786,0.576610527578,0.00876246404607,1.05970037707
+321,5.350000000,pose2_to_pose3_retreat,0.605338085463,9.07692740688e-05,1.06003233156,0.575908537728,0.00876251116428,1.05970046552
+322,5.366666667,pose2_to_pose3_retreat,0.604622863789,9.07772019212e-05,1.06003244922,0.575193315231,0.00876251622262,1.05970058145
+323,5.383333333,pose2_to_pose3_retreat,0.603883470963,9.07513748794e-05,1.06003217103,0.574453922652,0.00876249135307,1.05970030648
+324,5.400000000,pose2_to_pose3_retreat,0.603111231299,9.06781273258e-05,1.06003221183,0.573681683503,0.00876241963074,1.05970034042
+325,5.416666667,pose2_to_pose3_retreat,0.602333242138,9.07520056715e-05,1.06003231821,0.572903695066,0.0087624960598,1.05970044865
+326,5.433333333,pose2_to_pose3_retreat,0.601551940802,9.0824926886e-05,1.06003225893,0.572122391138,0.00876256037757,1.05970039515
+327,5.450000000,pose2_to_pose3_retreat,0.600771239206,9.07952064384e-05,1.06003229855,0.571341689269,0.00876252992298,1.05970043909
+328,5.466666667,pose2_to_pose3_retreat,0.600003257079,9.07698936447e-05,1.06003233178,0.570573708622,0.0087625096997,1.05970047369
+329,5.483333333,pose2_to_pose3_retreat,0.599254525605,9.0799507318e-05,1.06003222636,0.56982497651,0.00876253700611,1.05970036596
+330,5.500000000,pose2_to_pose3_retreat,0.598498927035,9.07645189973e-05,1.06003233584,0.569069378841,0.00876250499646,1.05970047216
+331,5.516666667,pose2_to_pose3_retreat,0.597728199033,9.06763900337e-05,1.06003232224,0.568298650283,0.00876241506673,1.05970046066
+332,5.533333333,pose2_to_pose3_retreat,0.596935805907,9.06511419224e-05,1.06003231827,0.567506258004,0.0087623926677,1.05970045608
+333,5.550000000,pose2_to_pose3_retreat,0.596124967852,9.08756575875e-05,1.06003234567,0.566695417259,0.0087626078347,1.0597004776
+334,5.566666667,pose2_to_pose3_retreat,0.595303651756,9.09011135306e-05,1.06003201795,0.565874102142,0.00876263712345,1.05970016319
+335,5.583333333,pose2_to_pose3_retreat,0.594495549766,9.08597016131e-05,1.06003230792,0.565066000853,0.0087625976329,1.05970044223
+336,5.600000000,pose2_to_pose3_retreat,0.593718925179,9.08159657295e-05,1.06003248075,0.564289376647,0.00876255500775,1.05970060904
+337,5.616666667,pose2_to_pose3_retreat,0.592968044418,9.08099437791e-05,1.06003235646,0.563538496045,0.00876254970482,1.05970048811
+338,5.633333333,pose2_to_pose3_retreat,0.592239474928,9.08432835562e-05,1.06003225536,0.562809926286,0.00876258224569,1.05970038979
+339,5.650000000,pose2_to_pose3_retreat,0.591521137804,9.08532313138e-05,1.06003226864,0.562091588954,0.00876259144025,1.05970040169
+340,5.666666667,pose2_to_pose3_retreat,0.590803497274,9.07334607302e-05,1.06003201053,0.56137394961,0.00876247560663,1.0597001413
+341,5.683333333,pose2_to_pose3_retreat,0.590078417908,9.06750205899e-05,1.06003219726,0.560648871872,0.00876242284481,1.05970033199
+342,5.700000000,pose2_to_pose3_retreat,0.589348089169,9.09717905856e-05,1.06003204896,0.559918539366,0.00876270740805,1.0597001988
+343,5.716666667,pose2_to_pose3_retreat,0.58861232224,9.08402439307e-05,1.06003197928,0.559182772201,0.0087625745898,1.05970011858
+344,5.733333333,pose2_to_pose3_retreat,0.58789786118,9.07620704267e-05,1.06003216493,0.558468312197,0.00876249962012,1.05970029463
+345,5.750000000,pose2_to_pose3_retreat,0.587207181987,9.07748269405e-05,1.06003233494,0.557777633516,0.00876251388695,1.05970045892
+346,5.766666667,pose2_to_pose3_retreat,0.586549983542,9.08308799162e-05,1.06003229621,0.557120434935,0.00876256970501,1.05970042496
+347,5.783333333,pose2_to_pose3_retreat,0.585925678463,9.08382202894e-05,1.06003221035,0.556496129804,0.0087625771093,1.05970034408
+348,5.800000000,pose2_to_pose3_retreat,0.585331204801,9.07793990728e-05,1.06003227751,0.555901656387,0.00876251896108,1.0597004072
+349,5.816666667,pose2_to_pose3_retreat,0.584744613931,9.07847621964e-05,1.06003246847,0.555315065249,0.00876252332666,1.05970059576
+350,5.833333333,pose2_to_pose3_retreat,0.584159956512,9.07925925402e-05,1.06003225163,0.554730405973,0.00876252497384,1.05970038226
+351,5.850000000,pose2_to_pose3_retreat,0.583573232492,9.08632411464e-05,1.06003246318,0.554143681942,0.00876259529983,1.0597005866
+352,5.866666667,pose2_to_pose3_retreat,0.582993737186,9.08313409764e-05,1.06003248644,0.553564188641,0.00876257033257,1.05970061315
+353,5.883333333,pose2_to_pose3_retreat,0.582440595206,9.0857975553e-05,1.06003236828,0.553011045761,0.00876259419413,1.05970050227
+354,5.900000000,pose2_to_pose3_retreat,0.581918563419,9.07994559226e-05,1.06003227809,0.552489014875,0.00876253859358,1.05970040847
+355,5.916666667,pose2_to_pose3_retreat,0.581430398216,9.07698409882e-05,1.06003233393,0.552000849865,0.00876250932338,1.05970045621
+356,5.933333333,pose2_to_pose3_retreat,0.580966612303,9.08102642875e-05,1.06003227961,0.551537063213,0.00876254729146,1.0597004037
+357,5.950000000,pose2_to_pose3_retreat,0.580524306312,9.08659954412e-05,1.0600321913,0.551094756894,0.00876260206694,1.05970032003
+358,5.966666667,pose2_to_pose3_retreat,0.580103432222,9.08861628833e-05,1.0600323715,0.55067388275,0.00876262191552,1.05970049661
+359,5.983333333,pose2_to_pose3_retreat,0.579705309679,9.08281208399e-05,1.060032282,0.550275760671,0.00876256619151,1.05970042671
+360,6.000000000,pose2_to_pose3_retreat,0.579333803005,9.07478000253e-05,1.06003217553,0.54990425408,0.00876248615809,1.05970031956
+361,6.016666667,pose2_to_pose3_retreat,0.578988712318,9.06387327706e-05,1.06003230225,0.549559165377,0.00876238358566,1.05970043983
+362,6.033333333,pose2_to_pose3_retreat,0.578668520151,9.08799555523e-05,1.06003236885,0.549238970377,0.0087626148022,1.05970049654
+363,6.050000000,pose2_to_pose3_retreat,0.578364513233,9.08467588889e-05,1.06003242497,0.548934963783,0.00876258273225,1.05970055348
+364,6.066666667,pose2_to_pose3_retreat,0.578074448103,9.0698218985e-05,1.0600324263,0.548644901219,0.00876244296295,1.05970055627
+365,6.083333333,pose2_to_pose3_retreat,0.577797793459,9.07378144508e-05,1.06003237562,0.54836824682,0.0087624832343,1.05970050168
+366,6.100000000,pose2_to_pose3_retreat,0.577536870436,9.08036654081e-05,1.06003234412,0.548107321866,0.00876254256993,1.0597004713
+367,6.116666667,pose2_to_pose3_retreat,0.577294646677,9.0729277144e-05,1.06003228804,0.54786509887,0.0087624708431,1.05970041688
+368,6.133333333,pose2_to_pose3_retreat,0.577073087186,9.08322509372e-05,1.06003241713,0.54764353918,0.00876257352922,1.0597005561
+369,6.150000000,pose2_to_pose3_retreat,0.576873006896,9.0825852255e-05,1.06003219992,0.547443457607,0.00876256272631,1.05970033759
+370,6.166666667,pose2_to_pose3_retreat,0.576694260978,9.07205596238e-05,1.06003219266,0.547264714815,0.00876246813166,1.05970033286
+371,6.183333333,pose2_to_pose3_retreat,0.576534860115,9.07718867382e-05,1.060032322,0.547105313344,0.00876251717104,1.05970045633
+372,6.200000000,pose2_to_pose3_retreat,0.576394432144,9.06655529173e-05,1.06003234404,0.546964886052,0.0087624131307,1.05970047812
+373,6.216666667,pose2_to_pose3_retreat,0.576269682544,9.07068881589e-05,1.06003244627,0.546840137209,0.00876245682808,1.0597005749
+374,6.233333333,pose2_to_pose3_retreat,0.576160492445,9.08009135308e-05,1.06003232099,0.546730944859,0.00876254336549,1.05970045357
+375,6.250000000,pose2_to_pose3_retreat,0.5760649948,9.07787855172e-05,1.06003233159,0.546635446318,0.00876251833565,1.05970046831
+376,6.266666667,pose2_to_pose3_retreat,0.575982791668,9.07754103718e-05,1.06003234129,0.546553243088,0.00876251457333,1.05970047694
+377,6.283333333,pose2_to_pose3_retreat,0.575913850546,9.07838355685e-05,1.06003221656,0.54648430117,0.00876252023615,1.05970035051
+378,6.300000000,pose2_to_pose3_retreat,0.575856377424,9.06925306605e-05,1.06003215562,0.546426828486,0.00876243041504,1.05970028934
+379,6.316666667,pose2_to_pose3_retreat,0.575810085829,9.07406676355e-05,1.06003204242,0.546380537265,0.00876247979048,1.05970017533
+380,6.333333333,pose2_to_pose3_retreat,0.575772560086,9.080476799e-05,1.06003254129,0.54634301146,0.00876254299315,1.05970065632
+381,6.350000000,pose2_to_pose3_retreat,0.575743258161,9.07835517762e-05,1.06003236437,0.546313709018,0.00876252060488,1.05970049467
+382,6.366666667,pose2_to_pose3_retreat,0.575720132472,9.07778205859e-05,1.06003232835,0.546290584464,0.00876251891578,1.05970046368
+383,6.383333333,pose2_to_pose3_retreat,0.575702273644,9.07978555461e-05,1.0600324015,0.54627272609,0.00876254050381,1.05970053725
+384,6.400000000,pose2_to_pose3_retreat,0.575689058259,9.07755533436e-05,1.0600324949,0.546259510802,0.00876251816621,1.05970062122
+385,6.416666667,pose2_to_pose3_retreat,0.575679503567,9.07364617629e-05,1.06003249067,0.546249955629,0.00876247717007,1.05970060982
+386,6.433333333,pose2_to_pose3_retreat,0.57567318745,9.07566518961e-05,1.06003236918,0.546243638216,0.00876249330917,1.059700497
+387,6.450000000,pose2_to_pose3_retreat,0.575669412953,9.08246649307e-05,1.06003234034,0.546239863633,0.00876256120761,1.05970047295
+388,6.466666667,pose2_to_pose3_retreat,0.5756677299,9.07776477765e-05,1.0600323854,0.54623818189,0.0087625186528,1.05970051841
+389,6.483333333,pose2_to_pose3_retreat,0.57566684832,9.07244892684e-05,1.06003243036,0.546237301494,0.0087624694966,1.05970056294
+390,6.500000000,pose2_to_pose3_retreat,0.575666462973,9.070125322e-05,1.06003245001,0.546236916665,0.00876244800999,1.05970058241
+391,6.516666667,pose2_to_pose3_retreat,0.575666300801,9.06914743655e-05,1.06003245828,0.546236754711,0.00876243896738,1.0597005906
+392,6.533333333,pose2_to_pose3_retreat,0.575666151226,9.06824551175e-05,1.06003246591,0.546236605337,0.0087624306272,1.05970059816
+393,6.550000000,pose2_to_pose3_retreat,0.575666089587,9.06787383363e-05,1.06003246905,0.54623654378,0.00876242719025,1.05970060127
+394,6.566666667,pose2_to_pose3_retreat,0.575665910307,9.06833827321e-05,1.0600324746,0.546236364237,0.00876243091983,1.0597006063
+395,6.583333333,pose2_to_pose3_retreat,0.575665695444,9.07070281438e-05,1.06003247704,0.546236148468,0.00876245144656,1.05970060763
+396,6.600000000,pose2_to_pose3_retreat,0.575665610291,9.07163991765e-05,1.06003247801,0.546236062955,0.00876245958162,1.05970060815
+397,6.616666667,pose2_to_pose3_retreat,0.575665530118,9.07252221175e-05,1.06003247892,0.546235982444,0.00876246724087,1.05970060864
+398,6.633333333,pose2_to_pose3_retreat,0.575665461027,9.07328254116e-05,1.0600324797,0.546235913062,0.00876247384134,1.05970060907
+399,6.650000000,pose2_to_pose3_retreat,0.575665431814,9.07360403187e-05,1.06003248004,0.546235883725,0.00876247663222,1.05970060925
+400,6.666666667,pose2_to_pose3_retreat,0.575665371681,9.0742657788e-05,1.06003248072,0.546235823339,0.00876248237689,1.05970060962
+401,6.683333333,pose2_to_pose3_retreat,0.575665335105,9.07466829979e-05,1.06003248114,0.546235786608,0.0087624858712,1.05970060984
+402,6.700000000,pose2_to_pose3_retreat,0.575665271149,9.0753721277e-05,1.06003248186,0.546235722382,0.00876249198117,1.05970061024
+403,6.716666667,pose2_to_pose3_retreat,0.575665112753,9.07711525205e-05,1.06003248366,0.546235563318,0.00876250711335,1.05970061121
+404,6.733333333,pose2_to_pose3_retreat,0.575665034499,9.07797642544e-05,1.06003248455,0.546235484734,0.00876251458925,1.05970061169
+405,6.750000000,pose2_to_pose3_retreat,0.57566500773,9.07827101106e-05,1.06003248486,0.546235457853,0.00876251714656,1.05970061186
+406,6.766666667,pose2_to_pose3_retreat,0.575665002136,9.07833257665e-05,1.06003248492,0.546235452235,0.00876251768102,1.05970061189
+407,6.783333333,pose2_to_pose3_retreat,0.575664951033,9.07889496112e-05,1.0600324855,0.546235400916,0.00876252256311,1.05970061221
+408,6.800000000,pose2_to_pose3_retreat,0.575664934801,9.0790735901e-05,1.06003248568,0.546235384616,0.0087625241138,1.05970061231
+409,6.816666667,pose2_to_pose3_retreat,0.575664934701,9.07907469099e-05,1.06003248569,0.546235384515,0.00876252412336,1.05970061231
+410,6.833333333,pose2_to_pose3_retreat,0.575664769798,9.08069919846e-05,1.06003250722,0.546235219545,0.00876254019142,1.05970063511
+411,6.850000000,pose2_to_pose3_retreat,0.575664757252,9.08081462206e-05,1.0600325097,0.546235207022,0.00876254142732,1.05970063778
+412,6.866666667,pose2_to_pose3_retreat,0.575664552387,9.08269947724e-05,1.06003255024,0.546235002515,0.00876256160945,1.05970068139
+413,6.883333333,pose2_to_pose3_retreat,0.575664402248,9.08536762969e-05,1.06003253309,0.546234852331,0.00876258823725,1.05970066687
+414,6.900000000,pose2_to_pose3_retreat,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266066001,1.05970045625
+415,6.916666667,pose2_to_pose3_retreat,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266066003,1.05970045625

Part2/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_03/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2305e69c0be5f9baafaad58c3246861e1aa8dc09ef944cd66f60e025e8f7f95
+size 26516114

Part2/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_03/simulation_data.csv

@@ -0,0 +1,418 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+1,0.016666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+2,0.033333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+3,0.050000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+4,0.066666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+5,0.083333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+6,0.100000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+7,0.116666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+8,0.133333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+9,0.150000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+10,0.166666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+11,0.183333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+12,0.200000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+13,0.216666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+14,0.233333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+15,0.250000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+16,0.266666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+17,0.283333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+18,0.300000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+19,0.316666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+20,0.333333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+21,0.350000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+22,0.366666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+23,0.383333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+24,0.400000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+25,0.416666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+26,0.433333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+27,0.450000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+28,0.466666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+29,0.483333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+30,0.500000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+31,0.516666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+32,0.533333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+33,0.550000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+34,0.566666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+35,0.583333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+36,0.600000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+37,0.616666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+38,0.633333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+39,0.650000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+40,0.666666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+41,0.683333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+42,0.700000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+43,0.716666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+44,0.733333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+45,0.750000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+46,0.766666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+47,0.783333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+48,0.800000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+49,0.816666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+50,0.833333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+51,0.850000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+52,0.866666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+53,0.883333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+54,0.900000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+55,0.916666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+56,0.933333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+57,0.950000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+58,0.966666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+59,0.983333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+60,1.000000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+61,1.016666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+62,1.033333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+63,1.050000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+64,1.066666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+65,1.083333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+66,1.100000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+67,1.116666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+68,1.133333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+69,1.150000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+70,1.166666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+71,1.183333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+72,1.200000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+73,1.216666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+74,1.233333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+75,1.250000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+76,1.266666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+77,1.283333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+78,1.300000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+79,1.316666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+80,1.333333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+81,1.350000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+82,1.366666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+83,1.383333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+84,1.400000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+85,1.416666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+86,1.433333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+87,1.450000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+88,1.466666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+89,1.483333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+90,1.500000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+91,1.516666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+92,1.533333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+93,1.550000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+94,1.566666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+95,1.583333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+96,1.600000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+97,1.616666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+98,1.633333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+99,1.650000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+100,1.666666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+101,1.683333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+102,1.700000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+103,1.716666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+104,1.733333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+105,1.750000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+106,1.766666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+107,1.783333333,pose1_to_pose2_press,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+108,1.800000000,pose1_to_pose2_press,0.575664455801,9.08043052005e-05,1.06003242856,0.546234906476,0.00876254077842,1.05970055984
+109,1.816666667,pose1_to_pose2_press,0.575664631638,9.07639437847e-05,1.06003248147,0.546235082723,0.0087625017094,1.05970061004
+110,1.833333333,pose1_to_pose2_press,0.575664845832,9.08206694753e-05,1.06003247587,0.546235295525,0.00876255375057,1.05970060549
+111,1.850000000,pose1_to_pose2_press,0.575664939121,9.08453755473e-05,1.06003247343,0.546235388208,0.00876257641637,1.05970060351
+112,1.866666667,pose1_to_pose2_press,0.575664946499,9.08473292792e-05,1.06003247323,0.546235395538,0.00876257820876,1.05970060336
+113,1.883333333,pose1_to_pose2_press,0.575664969445,9.0853406359e-05,1.06003247263,0.546235418335,0.00876258378398,1.05970060287
+114,1.900000000,pose1_to_pose2_press,0.575665570625,9.07874721162e-05,1.06003229469,0.546236021476,0.00876252456449,1.05970042643
+115,1.916666667,pose1_to_pose2_press,0.575667996344,9.07291931479e-05,1.06003231039,0.546238448636,0.00876247131337,1.05970044572
+116,1.933333333,pose1_to_pose2_press,0.575675365324,9.07477253035e-05,1.06003252489,0.546245816733,0.00876248640517,1.05970064854
+117,1.950000000,pose1_to_pose2_press,0.575689000931,9.0857910129e-05,1.06003239697,0.546259451202,0.00876259291347,1.05970052573
+118,1.966666667,pose1_to_pose2_press,0.575713233869,9.07819841696e-05,1.06003259634,0.546283686099,0.00876252348723,1.05970072086
+119,1.983333333,pose1_to_pose2_press,0.575747445198,9.08540887777e-05,1.06003236691,0.546317895241,0.00876258829813,1.05970049471
+120,2.000000000,pose1_to_pose2_press,0.575790871392,9.06917577265e-05,1.06003217897,0.546361322166,0.00876242856827,1.05970030986
+121,2.016666667,pose1_to_pose2_press,0.575842782297,9.06688966334e-05,1.06003238341,0.546413235509,0.00876241422037,1.05970052052
+122,2.033333333,pose1_to_pose2_press,0.57590385042,9.07705370682e-05,1.06003233735,0.54647430299,0.00876251372136,1.0597004754
+123,2.050000000,pose1_to_pose2_press,0.575971583492,9.06065401948e-05,1.06003210994,0.546542037618,0.00876235503081,1.05970024858
+124,2.066666667,pose1_to_pose2_press,0.576046392524,9.07566042543e-05,1.06003228793,0.54661684402,0.0087624960173,1.05970042254
+125,2.083333333,pose1_to_pose2_press,0.5761330968,9.08368294795e-05,1.06003227547,0.546703548059,0.00876257528094,1.0597004059
+126,2.100000000,pose1_to_pose2_press,0.576231454994,9.0887392677e-05,1.06003223209,0.546801906091,0.00876262532617,1.05970036339
+127,2.116666667,pose1_to_pose2_press,0.576343350226,9.08433070617e-05,1.06003221516,0.546913800885,0.00876257985461,1.05970034907
+128,2.133333333,pose1_to_pose2_press,0.576472309886,9.07686684077e-05,1.06003228422,0.547042761353,0.00876250782311,1.05970041453
+129,2.150000000,pose1_to_pose2_press,0.576620073688,9.08070680472e-05,1.0600323169,0.547190525009,0.00876254568636,1.05970044608
+130,2.166666667,pose1_to_pose2_press,0.57678448932,9.08490718867e-05,1.06003224857,0.547354939561,0.00876258431794,1.05970038537
+131,2.183333333,pose1_to_pose2_press,0.576965259592,9.08153168127e-05,1.06003236587,0.547535711442,0.0087625559335,1.05970050019
+132,2.200000000,pose1_to_pose2_press,0.577164870324,9.08829425096e-05,1.06003240973,0.547735320756,0.00876261874722,1.05970054397
+133,2.216666667,pose1_to_pose2_press,0.577382108194,9.0722032587e-05,1.06003213879,0.547952560091,0.00876246346827,1.05970029028
+134,2.233333333,pose1_to_pose2_press,0.577619628902,9.07824952324e-05,1.06003222417,0.548190080556,0.00876252240928,1.05970035731
+135,2.250000000,pose1_to_pose2_press,0.577877987787,9.05531721141e-05,1.06003221092,0.548448443418,0.00876230674813,1.05970034847
+136,2.266666667,pose1_to_pose2_press,0.57815702699,9.08448820666e-05,1.0600324876,0.548727477496,0.00876258061217,1.05970061314
+137,2.283333333,pose1_to_pose2_press,0.578457383233,9.08643337697e-05,1.06003235122,0.549027833818,0.00876260062361,1.05970048436
+138,2.300000000,pose1_to_pose2_press,0.578776297051,9.07312015642e-05,1.0600323469,0.549346749285,0.00876247310995,1.05970048057
+139,2.316666667,pose1_to_pose2_press,0.579111484229,9.07792412309e-05,1.06003242336,0.549681935992,0.00876251961812,1.05970055869
+140,2.333333333,pose1_to_pose2_press,0.579463722266,9.07960709095e-05,1.06003230338,0.550034173691,0.0087625352347,1.05970043691
+141,2.350000000,pose1_to_pose2_press,0.579834561874,9.08155720394e-05,1.06003227937,0.550405012796,0.00876255309894,1.05970041463
+142,2.366666667,pose1_to_pose2_press,0.58022419597,9.08970327863e-05,1.06003218856,0.550794646151,0.00876263228782,1.05970033022
+143,2.383333333,pose1_to_pose2_press,0.580633923465,9.09471437938e-05,1.06003216892,0.551204373855,0.00876268296738,1.05970030681
+144,2.400000000,pose1_to_pose2_press,0.581070278776,9.08742097403e-05,1.0600323169,0.551640730164,0.00876261312924,1.05970044711
+145,2.416666667,pose1_to_pose2_press,0.581531548638,9.07540682504e-05,1.06003216401,0.552102000388,0.00876249482229,1.05970031002
+146,2.433333333,pose1_to_pose2_press,0.582019524847,9.06448242845e-05,1.06003220653,0.552589979018,0.00876239357275,1.05970034666
+147,2.450000000,pose1_to_pose2_press,0.582527442542,9.07163007516e-05,1.06003234374,0.553097896403,0.00876246369579,1.05970047589
+148,2.466666667,pose1_to_pose2_press,0.583052420062,9.08269056078e-05,1.06003247261,0.553622871213,0.00876256494862,1.05970060071
+149,2.483333333,pose1_to_pose2_press,0.583595569215,9.0758353246e-05,1.06003244789,0.554166019645,0.00876249424428,1.05970058366
+150,2.500000000,pose1_to_pose2_press,0.584156279603,9.0644576667e-05,1.06003227917,0.554726731481,0.0087623851654,1.05970040925
+151,2.516666667,pose1_to_pose2_press,0.584737673641,9.08335976896e-05,1.06003232116,0.555308125221,0.00876257326312,1.05970045348
+152,2.533333333,pose1_to_pose2_press,0.585343104337,9.07528511217e-05,1.06003245686,0.555913556936,0.00876249576336,1.05970058366
+153,2.550000000,pose1_to_pose2_press,0.585975294541,9.07684636038e-05,1.06003240502,0.556545745177,0.00876250482107,1.05970053457
+154,2.566666667,pose1_to_pose2_press,0.586617942514,9.07907464664e-05,1.06003239297,0.557188393229,0.00876252767328,1.05970053038
+155,2.583333333,pose1_to_pose2_press,0.587267679205,9.07577959867e-05,1.06003232643,0.557838130989,0.00876249829726,1.05970046239
+156,2.600000000,pose1_to_pose2_press,0.587925058493,9.07229232959e-05,1.0600322175,0.55849551044,0.00876246385459,1.05970035021
+157,2.616666667,pose1_to_pose2_press,0.588590462371,9.07175171188e-05,1.06003221069,0.559160914703,0.00876245988814,1.05970034682
+158,2.633333333,pose1_to_pose2_press,0.589268459393,9.08197291646e-05,1.06003224931,0.559838910704,0.0087625585576,1.05970038351
+159,2.650000000,pose1_to_pose2_press,0.58996747785,9.09817720281e-05,1.06003240432,0.560537925528,0.0087627078035,1.05970052617
+160,2.666666667,pose1_to_pose2_press,0.590689101602,9.07641128999e-05,1.06003246619,0.561259554822,0.00876250927454,1.0597005965
+161,2.683333333,pose1_to_pose2_press,0.591430096923,9.06330428872e-05,1.06003222858,0.562000552015,0.00876238474599,1.05970036384
+162,2.700000000,pose1_to_pose2_press,0.592187160111,9.07383899015e-05,1.06003233502,0.562757612598,0.00876248109043,1.05970046606
+163,2.716666667,pose1_to_pose2_press,0.592952274369,9.07563632209e-05,1.06003245042,0.56352272631,0.00876249721011,1.05970058146
+164,2.733333333,pose1_to_pose2_press,0.593715413436,9.08118405991e-05,1.06003247584,0.564285864362,0.00876254911158,1.05970060349
+165,2.750000000,pose1_to_pose2_press,0.594464451644,9.07245205072e-05,1.06003238526,0.565034904608,0.00876246885172,1.05970051664
+166,2.766666667,pose1_to_pose2_press,0.595205432892,9.07882192641e-05,1.06003234659,0.565775883845,0.00876252577581,1.05970047927
+167,2.783333333,pose1_to_pose2_press,0.595941910942,9.08069956591e-05,1.06003239424,0.566512361258,0.00876254244394,1.05970052833
+168,2.800000000,pose1_to_pose2_press,0.596688914921,9.0789856971e-05,1.06003244695,0.56725936608,0.00876252822514,1.0597005827
+169,2.816666667,pose1_to_pose2_press,0.597454383953,9.08236462752e-05,1.0600324634,0.568024835025,0.00876256160818,1.05970059631
+170,2.833333333,pose1_to_pose2_press,0.598247460127,9.08201291827e-05,1.06003245013,0.568817911845,0.00876256011947,1.05970057882
+171,2.850000000,pose1_to_pose2_press,0.59905521165,9.08814938386e-05,1.06003238575,0.569625662691,0.00876261940415,1.0597005201
+172,2.866666667,pose1_to_pose2_press,0.599872562089,9.08738520364e-05,1.06003250034,0.570443013985,0.00876261449833,1.05970063043
+173,2.883333333,pose1_to_pose2_press,0.600668686876,9.07376135531e-05,1.06003217332,0.571239138948,0.0087624786591,1.05970029832
+174,2.900000000,pose1_to_pose2_press,0.601440582039,9.07484952292e-05,1.06003238217,0.572011033313,0.00876248698071,1.05970051103
+175,2.916666667,pose1_to_pose2_press,0.602182489551,9.07603545889e-05,1.06003259008,0.572752942478,0.00876250451286,1.05970072073
+176,2.933333333,pose1_to_pose2_press,0.602906248611,9.07801767583e-05,1.06003229394,0.573476700685,0.00876252127889,1.05970042036
+177,2.950000000,pose1_to_pose2_press,0.603629271213,9.08589285782e-05,1.06003219602,0.574199722579,0.00876259810872,1.05970033522
+178,2.966666667,pose1_to_pose2_press,0.604361778685,9.08387840485e-05,1.06003218603,0.574932229732,0.00876257689405,1.05970032552
+179,2.983333333,pose1_to_pose2_press,0.60510492855,9.08061751461e-05,1.06003243875,0.575675380037,0.00876254559008,1.05970057344
+180,3.000000000,pose1_to_pose2_press,0.605852909835,9.07769307409e-05,1.06003242858,0.576423360385,0.00876251313066,1.05970056239
+181,3.016666667,pose1_to_pose2_press,0.60659349291,9.07614013285e-05,1.06003243175,0.57716394319,0.00876249645587,1.05970055975
+182,3.033333333,pose1_to_pose2_press,0.607304292267,9.08149367422e-05,1.06003236789,0.577874743265,0.0087625523265,1.05970049333
+183,3.050000000,pose1_to_pose2_press,0.607983326529,9.08285368053e-05,1.06003242892,0.578553778141,0.00876256799578,1.05970055404
+184,3.066666667,pose1_to_pose2_press,0.608625986754,9.07764251866e-05,1.06003257753,0.5791964386,0.00876251664804,1.05970070196
+185,3.083333333,pose1_to_pose2_press,0.609238778114,9.07129662889e-05,1.06003245279,0.579809230388,0.00876245474275,1.05970057994
+186,3.100000000,pose1_to_pose2_press,0.609822936016,9.06351924708e-05,1.0600323684,0.58039338969,0.00876238175699,1.05970049654
+187,3.116666667,pose1_to_pose2_press,0.610394708495,9.09807369562e-05,1.06003242488,0.58096515763,0.00876271233175,1.05970056457
+188,3.133333333,pose1_to_pose2_press,0.610961500605,9.08843221006e-05,1.06003236085,0.581531951288,0.00876262092966,1.0597004942
+189,3.150000000,pose1_to_pose2_press,0.611530012072,9.08681783941e-05,1.06003246305,0.582100462791,0.00876260457677,1.05970058783
+190,3.166666667,pose1_to_pose2_press,0.612092593137,9.07542617044e-05,1.06003230213,0.582663044831,0.00876249412399,1.0597004313
+191,3.183333333,pose1_to_pose2_press,0.612641770158,9.08073658937e-05,1.06003222591,0.58321222076,0.00876254359534,1.05970035698
+192,3.200000000,pose1_to_pose2_press,0.613160213434,9.08599916157e-05,1.06003204705,0.583730663521,0.00876259501333,1.05970019036
+193,3.216666667,pose1_to_pose2_press,0.613646760937,9.09348995466e-05,1.06003198777,0.584217210141,0.0087626671138,1.05970013315
+194,3.233333333,pose1_to_pose2_press,0.614099025566,9.08789892071e-05,1.06003213797,0.584669475293,0.00876261267333,1.0597002717
+195,3.250000000,pose1_to_pose2_press,0.614531386429,9.06209613426e-05,1.06003227779,0.585101839659,0.00876236660776,1.05970040809
+196,3.266666667,pose1_to_pose2_press,0.614952439893,9.07827211772e-05,1.06003245199,0.585522891946,0.00876252473721,1.05970058576
+197,3.283333333,pose1_to_pose2_press,0.615361119262,9.07274242508e-05,1.0600324694,0.585931572089,0.00876247227601,1.05970060071
+198,3.300000000,pose1_to_pose2_press,0.615755281988,9.08906853014e-05,1.06003236287,0.586325732271,0.00876262715289,1.05970049433
+199,3.316666667,pose1_to_pose2_press,0.616127569363,9.07966451238e-05,1.06003245378,0.586698020308,0.00876253547433,1.05970058234
+200,3.333333333,pose1_to_pose2_press,0.616475311605,9.07581082743e-05,1.06003226738,0.587045763056,0.00876249924852,1.05970040437
+201,3.350000000,pose1_to_pose2_press,0.616792835371,9.07538838265e-05,1.06003222155,0.587363286017,0.0087624923428,1.05970035458
+202,3.366666667,pose1_to_pose2_press,0.617089653281,9.07017648272e-05,1.06003231549,0.587660104498,0.00876244204291,1.0597004399
+203,3.383333333,pose1_to_pose2_press,0.617369557525,9.06745121817e-05,1.06003238659,0.58794000971,0.00876241817599,1.05970050917
+204,3.400000000,pose1_to_pose2_press,0.617636738156,9.07380649553e-05,1.06003239626,0.588207189822,0.0087624803413,1.05970052465
+205,3.416666667,pose1_to_pose2_press,0.617891408635,9.07734845344e-05,1.06003244795,0.588461859745,0.00876251440662,1.05970058125
+206,3.433333333,pose1_to_pose2_press,0.618132916202,9.08206269985e-05,1.0600323228,0.588703364744,0.0087625531168,1.05970045951
+207,3.450000000,pose1_to_pose2_press,0.618357216844,9.09978210115e-05,1.06003230686,0.588927664181,0.0087627263175,1.0597004426
+208,3.466666667,pose1_to_pose2_press,0.618557678951,9.08525290485e-05,1.06003214692,0.58912812961,0.00876259198888,1.05970027044
+209,3.483333333,pose1_to_pose2_press,0.618739405399,9.08148891834e-05,1.06003209747,0.589309854674,0.00876255012195,1.05970022866
+210,3.500000000,pose1_to_pose2_press,0.618903061362,9.08102195652e-05,1.06003220866,0.589473511879,0.00876254976078,1.05970033875
+211,3.516666667,pose1_to_pose2_press,0.619049146913,9.0831861666e-05,1.06003233595,0.589619597243,0.00876257089305,1.0597004664
+212,3.533333333,pose1_to_pose2_press,0.619179277363,9.08247608121e-05,1.06003235819,0.589749728165,0.00876256555207,1.0597004896
+213,3.550000000,pose1_to_pose2_press,0.619295253072,9.0785679884e-05,1.06003244795,0.589865703735,0.00876252584709,1.05970057402
+214,3.566666667,pose1_to_pose2_press,0.619396891648,9.0650096323e-05,1.06003236226,0.589967343282,0.00876239352546,1.05970048585
+215,3.583333333,pose1_to_pose2_press,0.61948302399,9.0651215055e-05,1.06003223309,0.590053475891,0.00876239590583,1.05970036314
+216,3.600000000,pose1_to_pose2_press,0.619557446974,9.07408814427e-05,1.06003225217,0.590127898084,0.00876248334791,1.05970038812
+217,3.616666667,pose1_to_pose2_press,0.61962086123,9.0755720434e-05,1.06003236675,0.590191311961,0.00876249706409,1.05970050072
+218,3.633333333,pose1_to_pose2_press,0.619674159333,9.08894619333e-05,1.06003244262,0.59024460916,0.00876262762103,1.05970057631
+219,3.650000000,pose1_to_pose2_press,0.619718877402,9.08547254435e-05,1.06003233762,0.59028932683,0.00876259153933,1.0597004727
+220,3.666666667,pose1_to_pose2_press,0.619754833268,9.09090525632e-05,1.06003222908,0.590325282347,0.00876264487435,1.05970036714
+221,3.683333333,pose1_to_pose2_press,0.619784060776,9.08717923371e-05,1.06003211538,0.590354510316,0.00876260911171,1.05970025628
+222,3.700000000,pose1_to_pose2_press,0.619806958333,9.07935659759e-05,1.06003223418,0.5903774086,0.0087625332656,1.05970037179
+223,3.716666667,pose1_to_pose2_press,0.619825003386,9.07367823385e-05,1.06003239864,0.590395454412,0.00876247899307,1.05970053104
+224,3.733333333,pose1_to_pose2_press,0.619838485309,9.07743068989e-05,1.06003213705,0.590408937118,0.00876251905764,1.05970027302
+225,3.750000000,pose1_to_pose2_press,0.619848677603,9.07184786165e-05,1.0600322639,0.590419129344,0.00876246273595,1.0597003938
+226,3.766666667,pose1_to_pose2_press,0.61985621912,9.0709836266e-05,1.06003239402,0.590426670359,0.00876245236196,1.05970052158
+227,3.783333333,pose1_to_pose2_press,0.619861391228,9.07952554922e-05,1.06003243635,0.590431841508,0.00876253487763,1.05970056948
+228,3.800000000,pose1_to_pose2_press,0.619864886884,9.08511997687e-05,1.06003236394,0.590435336259,0.00876258791859,1.05970050057
+229,3.816666667,pose1_to_pose2_press,0.619866820067,9.08805715661e-05,1.06003223537,0.590437268714,0.0087626148602,1.05970037371
+230,3.833333333,pose1_to_pose2_press,0.619868078018,9.08996842371e-05,1.06003215171,0.590438526192,0.00876263239151,1.05970029115
+231,3.850000000,pose1_to_pose2_press,0.619868790773,9.09105134816e-05,1.06003210431,0.590439238679,0.00876264232476,1.05970024438
+232,3.866666667,pose1_to_pose2_press,0.619869070062,9.09147568538e-05,1.06003208573,0.590439517863,0.00876264621704,1.05970022605
+233,3.883333333,pose1_to_pose2_press,0.619869307559,9.09183652694e-05,1.06003206994,0.590439755271,0.0087626495269,1.05970021046
+234,3.900000000,pose1_to_pose2_press,0.619869656763,9.09154513415e-05,1.06003205311,0.59044010455,0.00876264687931,1.05970019391
+235,3.916666667,pose1_to_pose2_press,0.61986985454,9.09110437323e-05,1.06003204573,0.590440302438,0.00876264285915,1.05970018668
+236,3.933333333,pose1_to_pose2_press,0.619869925852,9.09094544813e-05,1.06003204306,0.590440373791,0.0087626414096,1.05970018407
+237,3.950000000,pose1_to_pose2_press,0.619870165286,9.09041184904e-05,1.06003203412,0.59044061336,0.00876263654267,1.05970017531
+238,3.966666667,pose1_to_pose2_press,0.619870523893,9.08961266126e-05,1.06003202073,0.590440972171,0.00876262925331,1.05970016218
+239,3.983333333,pose1_to_pose2_press,0.619870908528,9.0887554696e-05,1.06003200637,0.590441357023,0.0087626214349,1.05970014811
+240,4.000000000,pose1_to_pose2_press,0.619871533392,9.08736290673e-05,1.06003198304,0.590441982241,0.00876260873339,1.05970012524
+241,4.016666667,pose1_to_pose2_press,0.6198724798,9.0852537564e-05,1.0600319477,0.590442929184,0.00876258949592,1.05970009061
+242,4.033333333,pose1_to_pose2_press,0.619872999767,9.0837711652e-05,1.06003194122,0.590443449505,0.0087625758873,1.05970008448
+243,4.050000000,pose1_to_pose2_press,0.61987313941,9.08253080168e-05,1.06003197314,0.590443589397,0.00876256432732,1.05970011638
+244,4.066666667,pose1_to_pose2_press,0.619873281442,9.0812692089e-05,1.06003200561,0.590443731683,0.00876255256949,1.05970014883
+245,4.083333333,pose1_to_pose2_press,0.619873350957,9.08065175323e-05,1.0600320215,0.590443801322,0.00876254681491,1.05970016471
+246,4.100000000,pose1_to_pose2_press,0.619873800184,9.07666153552e-05,1.06003212418,0.590444251351,0.00876250962676,1.05970026734
+247,4.116666667,pose1_to_pose2_press,0.619873894525,9.0758235586e-05,1.06003214575,0.59044434586,0.00876250181696,1.05970028889
+248,4.133333333,pose1_to_pose2_press,0.619874246441,9.07269769184e-05,1.06003222619,0.590444698405,0.00876247268441,1.05970036928
+249,4.150000000,pose1_to_pose2_press,0.619874411382,9.07123261776e-05,1.06003226389,0.59044486364,0.00876245903017,1.05970040697
+250,4.166666667,pose1_to_pose2_press,0.619874584982,9.06969063354e-05,1.06003230357,0.59044503755,0.00876244465914,1.05970044663
+251,4.183333333,pose1_to_pose2_press,0.619875101949,9.06687718439e-05,1.06003224405,0.590445553836,0.00876241402579,1.05970038223
+252,4.200000000,pose1_to_pose2_press,0.619875365804,9.0654443773e-05,1.06003221336,0.590445817339,0.00876239841238,1.05970034904
+253,4.216666667,pose1_to_pose2_press,0.619875575519,9.07259059749e-05,1.06003223228,0.590446026689,0.00876246845085,1.05970036279
+254,4.233333333,pose1_to_pose2_press,0.619875675332,9.07703992619e-05,1.06003224699,0.59044612633,0.00876251227023,1.05970037485
+255,4.250000000,pose1_to_pose2_press,0.619875722818,9.07766275768e-05,1.06003224695,0.590446173798,0.00876251843735,1.05970037483
+256,4.266666667,pose2_hold,0.619875722818,9.07766275768e-05,1.06003224695,0.590446173798,0.00876251843882,1.05970037483
+257,4.283333333,pose2_hold,0.619875722818,9.07766275768e-05,1.06003224695,0.590446173799,0.00876251843787,1.05970037483
+258,4.300000000,pose2_hold,0.619875722818,9.07766275768e-05,1.06003224695,0.590446173799,0.00876251843879,1.05970037483
+259,4.316666667,pose2_hold,0.619875722818,9.07766275768e-05,1.06003224695,0.590446173799,0.00876251843851,1.05970037483
+260,4.333333333,pose2_hold,0.619875722818,9.07766275768e-05,1.06003224695,0.5904461738,0.0087625184379,1.05970037483
+261,4.350000000,pose2_hold,0.619875722818,9.07766275768e-05,1.06003224695,0.590446173799,0.00876251843783,1.05970037483
+262,4.366666667,pose2_hold,0.619875722818,9.07766275768e-05,1.06003224695,0.5904461738,0.00876251843798,1.05970037483
+263,4.383333333,pose2_hold,0.619875722818,9.07766275768e-05,1.06003224695,0.5904461738,0.00876251843806,1.05970037483
+264,4.400000000,pose2_hold,0.619875722818,9.07766275768e-05,1.06003224695,0.5904461738,0.00876251843792,1.05970037483
+265,4.416666667,pose2_hold,0.619875722818,9.07766275768e-05,1.06003224695,0.5904461738,0.00876251843803,1.05970037483
+266,4.433333333,pose2_hold,0.619875722818,9.07766275768e-05,1.06003224695,0.5904461738,0.0087625184385,1.05970037483
+267,4.450000000,pose2_hold,0.619875722818,9.07766275768e-05,1.06003224695,0.5904461738,0.00876251843847,1.05970037483
+268,4.466666667,pose2_hold,0.619875722818,9.07766275768e-05,1.06003224695,0.5904461738,0.0087625184385,1.05970037483
+269,4.483333333,pose2_hold,0.619875722818,9.07766275768e-05,1.06003224695,0.5904461738,0.00876251843858,1.05970037483
+270,4.500000000,pose2_hold,0.619875722818,9.07766275768e-05,1.06003224695,0.5904461738,0.00876251843903,1.05970037483
+271,4.516666667,pose2_hold,0.619875722818,9.07766275768e-05,1.06003224695,0.5904461738,0.00876251843911,1.05970037483
+272,4.533333333,pose2_to_pose3_retreat,0.619875722818,9.07766275768e-05,1.06003224695,0.590446173801,0.00876251843868,1.05970037483
+273,4.550000000,pose2_to_pose3_retreat,0.619875516536,9.0728652348e-05,1.06003232247,0.590445967654,0.00876247105365,1.05970045366
+274,4.566666667,pose2_to_pose3_retreat,0.61987535714,9.07567076377e-05,1.06003224443,0.590445807791,0.00876249775404,1.05970038141
+275,4.583333333,pose2_to_pose3_retreat,0.61987532019,9.07632111804e-05,1.06003222635,0.590445770733,0.0087625039435,1.05970036466
+276,4.600000000,pose2_to_pose3_retreat,0.619875236813,9.07778864361e-05,1.06003218553,0.590445687111,0.00876251791003,1.05970032686
+277,4.616666667,pose2_to_pose3_retreat,0.619875058668,9.07716314345e-05,1.06003218978,0.590445509052,0.0087625118583,1.05970032891
+278,4.633333333,pose2_to_pose3_retreat,0.619874766368,9.07529535362e-05,1.06003221722,0.59044521703,0.00876249389821,1.0597003508
+279,4.650000000,pose2_to_pose3_retreat,0.619874180212,9.07154982748e-05,1.06003227226,0.590444631429,0.0087624578824,1.0597003947
+280,4.666666667,pose2_to_pose3_retreat,0.619872417363,9.07724807809e-05,1.06003221667,0.590442867987,0.00876251331378,1.05970035143
+281,4.683333333,pose2_to_pose3_retreat,0.61986706078,9.07337615752e-05,1.06003210189,0.590437510539,0.00876247176044,1.05970023931
+282,4.700000000,pose2_to_pose3_retreat,0.619856057118,9.07774615526e-05,1.0600323117,0.590426506352,0.0087625135217,1.05970044563
+283,4.716666667,pose2_to_pose3_retreat,0.619835418357,9.0785327419e-05,1.0600322988,0.59040586885,0.00876252549048,1.05970043023
+284,4.733333333,pose2_to_pose3_retreat,0.61980474934,9.08229372334e-05,1.06003225735,0.590375199408,0.00876256145811,1.05970038455
+285,4.750000000,pose2_to_pose3_retreat,0.619763305713,9.07699117933e-05,1.06003236103,0.5903337566,0.00876251124692,1.05970049039
+286,4.766666667,pose2_to_pose3_retreat,0.619712580018,9.07969415416e-05,1.06003236492,0.59028303158,0.00876254099373,1.0597005013
+287,4.783333333,pose2_to_pose3_retreat,0.61965305363,9.06939036059e-05,1.06003232192,0.590223507023,0.00876244385664,1.05970045837
+288,4.800000000,pose2_to_pose3_retreat,0.619586365146,9.07127552353e-05,1.0600321931,0.590156817049,0.00876245735222,1.05970032697
+289,4.816666667,pose2_to_pose3_retreat,0.619512294932,9.08470385453e-05,1.06003244553,0.590082743835,0.00876258126183,1.05970057555
+290,4.833333333,pose2_to_pose3_retreat,0.619427667829,9.06837122402e-05,1.06003233297,0.589998119954,0.00876242927828,1.05970046779
+291,4.850000000,pose2_to_pose3_retreat,0.619331480721,9.0689587355e-05,1.06003221056,0.58990193343,0.0087624371951,1.05970034981
+292,4.866666667,pose2_to_pose3_retreat,0.61922061733,9.07328921011e-05,1.06003242131,0.589791067869,0.00876247278161,1.05970055278
+293,4.883333333,pose2_to_pose3_retreat,0.619093468081,9.08523051957e-05,1.06003231056,0.589663917733,0.00876258906074,1.0597004413
+294,4.900000000,pose2_to_pose3_retreat,0.618948330688,9.07304880015e-05,1.06003231102,0.589518781288,0.00876247026797,1.05970044034
+295,4.916666667,pose2_to_pose3_retreat,0.618783713829,9.06836763634e-05,1.06003217017,0.589354164481,0.00876242350247,1.05970030004
+296,4.933333333,pose2_to_pose3_retreat,0.618599900818,9.07798914656e-05,1.06003208323,0.589170350906,0.0087625177339,1.05970021506
+297,4.950000000,pose2_to_pose3_retreat,0.618396930259,9.08475039634e-05,1.0600322637,0.588967380088,0.00876258438936,1.05970039796
+298,4.966666667,pose2_to_pose3_retreat,0.618175344322,9.08895514678e-05,1.06003229455,0.588745793273,0.0087626233955,1.05970043174
+299,4.983333333,pose2_to_pose3_retreat,0.617933410311,9.07593817298e-05,1.06003222719,0.588503860459,0.00876249690852,1.05970035898
+300,5.000000000,pose2_to_pose3_retreat,0.617672288384,9.06690453721e-05,1.0600322177,0.588242742529,0.00876242002817,1.05970035225
+301,5.016666667,pose2_to_pose3_retreat,0.617391511531,9.08016761865e-05,1.06003236431,0.587961963538,0.00876254487131,1.05970049056
+302,5.033333333,pose2_to_pose3_retreat,0.617089465325,9.07351692962e-05,1.060032258,0.587659916636,0.00876247587144,1.05970038665
+303,5.050000000,pose2_to_pose3_retreat,0.616769006679,9.06925725689e-05,1.06003211857,0.587339459452,0.00876243831209,1.05970025504
+304,5.066666667,pose2_to_pose3_retreat,0.616433457672,9.07260593917e-05,1.06003223587,0.587003909302,0.00876246767679,1.0597003724
+305,5.083333333,pose2_to_pose3_retreat,0.616081892763,9.07159361438e-05,1.06003240135,0.586652344877,0.00876245879505,1.05970053365
+306,5.100000000,pose2_to_pose3_retreat,0.61571112254,9.07372817314e-05,1.06003231633,0.586281574873,0.00876248082487,1.05970045365
+307,5.116666667,pose2_to_pose3_retreat,0.61531659868,9.08804512214e-05,1.06003208078,0.585887048411,0.00876261536387,1.0597002301
+308,5.133333333,pose2_to_pose3_retreat,0.61489631632,9.09749606875e-05,1.06003233477,0.585466766109,0.00876270941154,1.05970047281
+309,5.150000000,pose2_to_pose3_retreat,0.61444624998,9.0797702199e-05,1.06003245338,0.585016703344,0.00876254392214,1.0597005895
+310,5.166666667,pose2_to_pose3_retreat,0.613971799833,9.08736023288e-05,1.06003233511,0.584542250928,0.0087626119013,1.05970047177
+311,5.183333333,pose2_to_pose3_retreat,0.613476904863,9.08425172157e-05,1.0600322273,0.584047356521,0.0087625825877,1.05970036512
+312,5.200000000,pose2_to_pose3_retreat,0.612970665454,9.08066841489e-05,1.06003228988,0.583541117845,0.00876254914101,1.05970042645
+313,5.216666667,pose2_to_pose3_retreat,0.612455220487,9.08463772385e-05,1.06003231654,0.583025672039,0.00876258612573,1.05970045667
+314,5.233333333,pose2_to_pose3_retreat,0.611922677962,9.08700562087e-05,1.06003233103,0.582493128767,0.00876260710558,1.05970046695
+315,5.250000000,pose2_to_pose3_retreat,0.611369258422,9.07925062369e-05,1.06003234696,0.581939709988,0.00876253172454,1.05970047241
+316,5.266666667,pose2_to_pose3_retreat,0.610782761416,9.06919624834e-05,1.060032201,0.58135321354,0.00876243358895,1.05970033941
+317,5.283333333,pose2_to_pose3_retreat,0.610166713653,9.07432637762e-05,1.06003223171,0.580737163925,0.0087624783244,1.059700363
+318,5.300000000,pose2_to_pose3_retreat,0.60952377301,9.08003531815e-05,1.06003242972,0.580094225328,0.00876254251071,1.0597005654
+319,5.316666667,pose2_to_pose3_retreat,0.608867520773,9.09393972647e-05,1.06003223315,0.57943797167,0.00876267694105,1.05970037471
+320,5.333333333,pose2_to_pose3_retreat,0.608202156193,9.08939417539e-05,1.06003221096,0.57877260646,0.00876262915554,1.05970034692
+321,5.350000000,pose2_to_pose3_retreat,0.607529207346,9.08317161596e-05,1.06003224112,0.578099657973,0.00876256794582,1.05970037059
+322,5.366666667,pose2_to_pose3_retreat,0.606843681573,9.08505278305e-05,1.06003223289,0.577414131868,0.00876258570923,1.05970036443
+323,5.383333333,pose2_to_pose3_retreat,0.606136511655,9.08778411118e-05,1.06003225882,0.576706961393,0.00876261120573,1.05970039359
+324,5.400000000,pose2_to_pose3_retreat,0.605407218614,9.08558617565e-05,1.06003228139,0.575977668497,0.00876258956403,1.05970041317
+325,5.416666667,pose2_to_pose3_retreat,0.604655195282,9.08774111593e-05,1.06003214373,0.575225644773,0.0087626098231,1.05970027629
+326,5.433333333,pose2_to_pose3_retreat,0.603880233297,9.08506766251e-05,1.06003233959,0.574450683294,0.00876258480906,1.05970047216
+327,5.450000000,pose2_to_pose3_retreat,0.603084634085,9.07677059087e-05,1.06003234424,0.57365508769,0.00876251421573,1.05970047739
+328,5.466666667,pose2_to_pose3_retreat,0.602286309454,9.07001913323e-05,1.06003236087,0.572856762959,0.008762446133,1.05970048949
+329,5.483333333,pose2_to_pose3_retreat,0.601489121837,9.07940213384e-05,1.06003223341,0.572059574509,0.00876253737809,1.05970036841
+330,5.500000000,pose2_to_pose3_retreat,0.600697597353,9.06981838559e-05,1.06003243126,0.571268050891,0.00876244426667,1.05970056202
+331,5.516666667,pose2_to_pose3_retreat,0.599917294009,9.06306188114e-05,1.06003229717,0.570487746876,0.00876237453809,1.05970042911
+332,5.533333333,pose2_to_pose3_retreat,0.599145850756,9.06438821214e-05,1.0600322146,0.569716302784,0.00876238497394,1.05970034746
+333,5.550000000,pose2_to_pose3_retreat,0.598369796496,9.07078519907e-05,1.06003229731,0.568940248081,0.00876244764084,1.05970043592
+334,5.566666667,pose2_to_pose3_retreat,0.597582270149,9.07525676825e-05,1.0600323944,0.568152721629,0.00876249201455,1.0597005326
+335,5.583333333,pose2_to_pose3_retreat,0.596765565841,9.07924673717e-05,1.06003241352,0.567336016897,0.00876252995534,1.05970053806
+336,5.600000000,pose2_to_pose3_retreat,0.595936486678,9.09016869584e-05,1.06003249047,0.566506936457,0.00876263491141,1.05970061678
+337,5.616666667,pose2_to_pose3_retreat,0.595107227272,9.08016027634e-05,1.0600324994,0.565677677698,0.00876253709824,1.0597006277
+338,5.633333333,pose2_to_pose3_retreat,0.594297932357,9.06914711849e-05,1.06003256309,0.564868385933,0.00876243765891,1.05970069147
+339,5.650000000,pose2_to_pose3_retreat,0.593516309598,9.07729315782e-05,1.06003206885,0.564086762919,0.008762518772,1.05970021215
+340,5.666666667,pose2_to_pose3_retreat,0.592769461061,9.08000035829e-05,1.06003239302,0.563339913682,0.008762543363,1.05970053108
+341,5.683333333,pose2_to_pose3_retreat,0.592042743668,9.07128303963e-05,1.0600323769,0.562613197371,0.00876245965915,1.05970050912
+342,5.700000000,pose2_to_pose3_retreat,0.591318018913,9.07558485453e-05,1.06003227993,0.561888470416,0.0087624951199,1.05970040954
+343,5.716666667,pose2_to_pose3_retreat,0.590586361041,9.08758908545e-05,1.06003228177,0.561156809963,0.00876260641795,1.0597004116
+344,5.733333333,pose2_to_pose3_retreat,0.589849018822,9.09227756918e-05,1.06003226113,0.560419467365,0.00876265208085,1.05970039264
+345,5.750000000,pose2_to_pose3_retreat,0.589103359712,9.08456266387e-05,1.06003220025,0.559673810066,0.00876258116982,1.05970033408
+346,5.766666667,pose2_to_pose3_retreat,0.588358037375,9.07641636273e-05,1.06003246455,0.558928490978,0.00876251071103,1.05970059835
+347,5.783333333,pose2_to_pose3_retreat,0.587650682995,9.07698307496e-05,1.06003244452,0.558221135313,0.00876251178731,1.05970057401
+348,5.800000000,pose2_to_pose3_retreat,0.586972669301,9.07495476483e-05,1.06003219475,0.557543121033,0.00876248990562,1.05970033432
+349,5.816666667,pose2_to_pose3_retreat,0.586319646998,9.08162787844e-05,1.06003221898,0.556890097813,0.00876255335386,1.05970035438
+350,5.833333333,pose2_to_pose3_retreat,0.585697193918,9.06948383447e-05,1.06003223757,0.556267646609,0.0087624381863,1.05970036855
+351,5.850000000,pose2_to_pose3_retreat,0.585099366892,9.06129623865e-05,1.06003213931,0.55566982014,0.00876235834,1.05970027358
+352,5.866666667,pose2_to_pose3_retreat,0.584500505423,9.0694586706e-05,1.06003217123,0.555070957287,0.00876243516296,1.0597003027
+353,5.883333333,pose2_to_pose3_retreat,0.583903679876,9.08473828988e-05,1.060032303,0.554474130386,0.00876258318147,1.05970042972
+354,5.900000000,pose2_to_pose3_retreat,0.583318756967,9.08936921651e-05,1.06003232329,0.553889207451,0.00876262943393,1.05970045117
+355,5.916666667,pose2_to_pose3_retreat,0.582754409136,9.08341275422e-05,1.06003229765,0.553324860117,0.00876257177049,1.05970043125
+356,5.933333333,pose2_to_pose3_retreat,0.582215833264,9.07946894075e-05,1.06003240788,0.552786284838,0.00876253460298,1.05970054811
+357,5.950000000,pose2_to_pose3_retreat,0.581706565462,9.07593057655e-05,1.06003232842,0.552277017058,0.00876249914521,1.05970046473
+358,5.966666667,pose2_to_pose3_retreat,0.581224441659,9.07401692806e-05,1.06003241044,0.551794892831,0.00876247784721,1.05970052784
+359,5.983333333,pose2_to_pose3_retreat,0.580767152275,9.08255411768e-05,1.06003233243,0.551337601729,0.00876255805566,1.05970046726
+360,6.000000000,pose2_to_pose3_retreat,0.580332884993,9.07718409143e-05,1.06003225998,0.550903336022,0.00876250939117,1.05970038754
+361,6.016666667,pose2_to_pose3_retreat,0.579924281122,9.07286930341e-05,1.06003243007,0.550494734252,0.00876247322258,1.05970055373
+362,6.033333333,pose2_to_pose3_retreat,0.579540258697,9.06644310071e-05,1.06003231683,0.55011071259,0.00876241200702,1.05970045208
+363,6.050000000,pose2_to_pose3_retreat,0.579182176866,9.07050121178e-05,1.06003218882,0.549752629172,0.00876244746374,1.05970033058
+364,6.066666667,pose2_to_pose3_retreat,0.578845046525,9.07818007308e-05,1.06003223246,0.549415497105,0.00876251828962,1.05970037144
+365,6.083333333,pose2_to_pose3_retreat,0.578527303067,9.07382359661e-05,1.0600323558,0.549097754314,0.00876247694951,1.05970049385
+366,6.100000000,pose2_to_pose3_retreat,0.57822743814,9.0728010782e-05,1.0600325553,0.548797889821,0.00876246802532,1.05970068878
+367,6.116666667,pose2_to_pose3_retreat,0.577942806026,9.08698768825e-05,1.06003206907,0.548513255595,0.00876260310691,1.05970021262
+368,6.133333333,pose2_to_pose3_retreat,0.577673691604,9.07434417902e-05,1.06003208663,0.548244145171,0.00876248994907,1.05970022264
+369,6.150000000,pose2_to_pose3_retreat,0.577421911378,9.07335741168e-05,1.06003230936,0.54799236289,0.00876247278292,1.05970043707
+370,6.166666667,pose2_to_pose3_retreat,0.577187844388,9.06772107883e-05,1.06003225079,0.547758297052,0.0087624205635,1.05970038458
+371,6.183333333,pose2_to_pose3_retreat,0.576975173402,9.06915334676e-05,1.06003231925,0.547545626184,0.00876243513795,1.05970044915
+372,6.200000000,pose2_to_pose3_retreat,0.576782975686,9.07051256408e-05,1.06003235921,0.547353427685,0.00876244604282,1.05970048833
+373,6.216666667,pose2_to_pose3_retreat,0.576612792404,9.08339394419e-05,1.06003227232,0.547183242787,0.00876256948775,1.05970040461
+374,6.233333333,pose2_to_pose3_retreat,0.576462506294,9.09568531901e-05,1.06003221173,0.54703295483,0.00876268621418,1.05970034626
+375,6.250000000,pose2_to_pose3_retreat,0.576332308063,9.08717413494e-05,1.06003221813,0.546902758113,0.00876260625788,1.05970035297
+376,6.266666667,pose2_to_pose3_retreat,0.57621698056,9.07322173097e-05,1.06003218063,0.546787433686,0.00876247721364,1.05970031663
+377,6.283333333,pose2_to_pose3_retreat,0.576115790528,9.08287923376e-05,1.06003207686,0.54668624144,0.00876256641215,1.05970021657
+378,6.300000000,pose2_to_pose3_retreat,0.57602814217,9.07968914623e-05,1.06003214705,0.546598594625,0.00876253935753,1.05970027717
+379,6.316666667,pose2_to_pose3_retreat,0.575952432371,9.0746020003e-05,1.0600324449,0.546522884556,0.00876248778684,1.0597005807
+380,6.333333333,pose2_to_pose3_retreat,0.575888240236,9.09039729075e-05,1.06003236592,0.546458689953,0.00876263716143,1.05970049631
+381,6.350000000,pose2_to_pose3_retreat,0.575835442771,9.08171613494e-05,1.06003244826,0.546405894704,0.0087625579253,1.05970058002
+382,6.366666667,pose2_to_pose3_retreat,0.575794034065,9.07320314766e-05,1.06003230546,0.546364486291,0.00876247375935,1.05970043644
+383,6.383333333,pose2_to_pose3_retreat,0.575761168693,9.07755238402e-05,1.06003230049,0.546331619329,0.00876251178977,1.0597004297
+384,6.400000000,pose2_to_pose3_retreat,0.57573560067,9.08417133892e-05,1.06003236454,0.546306050922,0.00876257662497,1.05970049248
+385,6.416666667,pose2_to_pose3_retreat,0.575716581355,9.08501366879e-05,1.06003235802,0.546287033268,0.00876259067075,1.05970048572
+386,6.433333333,pose2_to_pose3_retreat,0.575702024817,9.09077889548e-05,1.06003225888,0.546272474636,0.00876264129973,1.05970038884
+387,6.450000000,pose2_to_pose3_retreat,0.575690995507,9.08445844045e-05,1.06003242856,0.546261445858,0.00876257978347,1.05970055552
+388,6.466666667,pose2_to_pose3_retreat,0.575683141348,9.07703001295e-05,1.06003257432,0.546253592886,0.00876250947586,1.05970069994
+389,6.483333333,pose2_to_pose3_retreat,0.575678212079,9.07695275998e-05,1.06003240865,0.546248664274,0.0087625112789,1.05970054301
+390,6.500000000,pose2_to_pose3_retreat,0.575674983807,9.07700979538e-05,1.06003230695,0.546245436399,0.00876251340839,1.05970044668
+391,6.516666667,pose2_to_pose3_retreat,0.575673185061,9.07877547086e-05,1.06003235982,0.546243637334,0.00876252987764,1.05970049687
+392,6.533333333,pose2_to_pose3_retreat,0.575672419601,9.079526858e-05,1.06003238232,0.546242871738,0.00876253688616,1.05970051822
+393,6.550000000,pose2_to_pose3_retreat,0.57567202155,9.07991759046e-05,1.06003239402,0.546242473617,0.0087625405307,1.05970052933
+394,6.566666667,pose2_to_pose3_retreat,0.575671791585,9.08014332813e-05,1.06003240078,0.546242243611,0.00876254263625,1.05970053575
+395,6.583333333,pose2_to_pose3_retreat,0.575671493384,9.08043604662e-05,1.06003240954,0.546241945357,0.00876254536657,1.05970054407
+396,6.600000000,pose2_to_pose3_retreat,0.575671092846,9.08082922051e-05,1.06003242132,0.546241544748,0.00876254903388,1.05970055524
+397,6.616666667,pose2_to_pose3_retreat,0.575670899507,9.08101900475e-05,1.060032427,0.546241351375,0.00876255080408,1.05970056064
+398,6.633333333,pose2_to_pose3_retreat,0.575670720232,9.08119498422e-05,1.06003243227,0.546241172068,0.00876255244552,1.05970056564
+399,6.650000000,pose2_to_pose3_retreat,0.575670266397,9.08164047547e-05,1.06003244561,0.546240718152,0.00876255660081,1.0597005783
+400,6.666666667,pose2_to_pose3_retreat,0.575670254417,9.08165223486e-05,1.06003244596,0.54624070617,0.0087625567105,1.05970057863
+401,6.683333333,pose2_to_pose3_retreat,0.575669694564,9.08220179503e-05,1.06003246241,0.546240146218,0.00876256183649,1.05970059425
+402,6.700000000,pose2_to_pose3_retreat,0.575669448139,9.08191129873e-05,1.06003246229,0.546239899767,0.00876255883861,1.05970059396
+403,6.716666667,pose2_to_pose3_retreat,0.5756691618,9.08070940295e-05,1.06003245017,0.546239613429,0.00876254682494,1.05970058198
+404,6.733333333,pose2_to_pose3_retreat,0.57566844379,9.07769558165e-05,1.06003241979,0.546238895419,0.00876251670001,1.05970055192
+405,6.750000000,pose2_to_pose3_retreat,0.57566780219,9.07500248968e-05,1.06003239265,0.546238253819,0.00876248978095,1.05970052507
+406,6.766666667,pose2_to_pose3_retreat,0.575667388603,9.07326647675e-05,1.06003237515,0.546237840233,0.00876247242847,1.05970050776
+407,6.783333333,pose2_to_pose3_retreat,0.575667362299,9.07315606437e-05,1.06003237404,0.546237813928,0.00876247132483,1.05970050666
+408,6.800000000,pose2_to_pose3_retreat,0.575666842826,9.07097559851e-05,1.06003235206,0.546237294456,0.00876244952978,1.05970048492
+409,6.816666667,pose2_to_pose3_retreat,0.575666263623,9.07042501026e-05,1.0600323429,0.546236715062,0.00876244336756,1.05970047548
+410,6.833333333,pose2_to_pose3_retreat,0.575665740995,9.07826027394e-05,1.06003240265,0.546236191419,0.0087625181726,1.05970053252
+411,6.850000000,pose2_to_pose3_retreat,0.575665215469,9.08613897499e-05,1.06003246272,0.546235664873,0.00876259339234,1.05970058988
+412,6.866666667,pose2_to_pose3_retreat,0.575665132021,9.08739003096e-05,1.06003247226,0.546235581262,0.00876260533646,1.05970059899
+413,6.883333333,pose2_to_pose3_retreat,0.575664813871,9.08326132236e-05,1.06003248622,0.546235263923,0.00876256680881,1.0597006131
+414,6.900000000,pose2_to_pose3_retreat,0.575664604299,9.07612324829e-05,1.06003248429,0.546235055596,0.00876249968826,1.05970061216
+415,6.916666667,pose2_to_pose3_retreat,0.575664366173,9.08683814746e-05,1.06003237283,0.54623481586,0.00876260162458,1.05970050727
+416,6.933333333,pose2_to_pose3_retreat,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266066005,1.05970045625

Part2/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_04/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:489fbe879c392a26c0006d8f2c294ac85db0b52ad8a2b610f94df9e8442da7a0
+size 26701790

Part2/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_04/simulation_data.csv

@@ -0,0 +1,421 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+1,0.016666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+2,0.033333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+3,0.050000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+4,0.066666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+5,0.083333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+6,0.100000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+7,0.116666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+8,0.133333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+9,0.150000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+10,0.166666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+11,0.183333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+12,0.200000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+13,0.216666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+14,0.233333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+15,0.250000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+16,0.266666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+17,0.283333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+18,0.300000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+19,0.316666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+20,0.333333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+21,0.350000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+22,0.366666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+23,0.383333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+24,0.400000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+25,0.416666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+26,0.433333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+27,0.450000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+28,0.466666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+29,0.483333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+30,0.500000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+31,0.516666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+32,0.533333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+33,0.550000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+34,0.566666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+35,0.583333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+36,0.600000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+37,0.616666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+38,0.633333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+39,0.650000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+40,0.666666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+41,0.683333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+42,0.700000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+43,0.716666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+44,0.733333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+45,0.750000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+46,0.766666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+47,0.783333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+48,0.800000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+49,0.816666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+50,0.833333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+51,0.850000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+52,0.866666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+53,0.883333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+54,0.900000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+55,0.916666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+56,0.933333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+57,0.950000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+58,0.966666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+59,0.983333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+60,1.000000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+61,1.016666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+62,1.033333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+63,1.050000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+64,1.066666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+65,1.083333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+66,1.100000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+67,1.116666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+68,1.133333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+69,1.150000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+70,1.166666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+71,1.183333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+72,1.200000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+73,1.216666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+74,1.233333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+75,1.250000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+76,1.266666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+77,1.283333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+78,1.300000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+79,1.316666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+80,1.333333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+81,1.350000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+82,1.366666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+83,1.383333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+84,1.400000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+85,1.416666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+86,1.433333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+87,1.450000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+88,1.466666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+89,1.483333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+90,1.500000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+91,1.516666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+92,1.533333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+93,1.550000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+94,1.566666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+95,1.583333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+96,1.600000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+97,1.616666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+98,1.633333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+99,1.650000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+100,1.666666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+101,1.683333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+102,1.700000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+103,1.716666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+104,1.733333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+105,1.750000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+106,1.766666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+107,1.783333333,pose1_to_pose2_press,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+108,1.800000000,pose1_to_pose2_press,0.575664291894,9.09214846372e-05,1.06003232663,0.546234740763,0.00876265205088,1.05970046369
+109,1.816666667,pose1_to_pose2_press,0.575664302623,9.0913814661e-05,1.0600323333,0.546234751609,0.00876264476755,1.05970046999
+110,1.833333333,pose1_to_pose2_press,0.575664366488,9.08681564313e-05,1.06003237302,0.546234816178,0.00876260141093,1.05970050745
+111,1.850000000,pose1_to_pose2_press,0.5756644287,9.08236800701e-05,1.06003241171,0.546234879076,0.00876255917661,1.05970054394
+112,1.866666667,pose1_to_pose2_press,0.575664473215,9.07918561028e-05,1.06003243939,0.546234924081,0.00876252895687,1.05970057006
+113,1.883333333,pose1_to_pose2_press,0.575664584239,9.07513910984e-05,1.0600324827,0.546235035633,0.00876249019334,1.05970061104
+114,1.900000000,pose1_to_pose2_press,0.575665419367,9.08242113579e-05,1.0600323783,0.546235869368,0.00876255845014,1.05970051091
+115,1.916666667,pose1_to_pose2_press,0.575668873138,9.08008887744e-05,1.0600324599,0.546239324885,0.00876254094232,1.05970058953
+116,1.933333333,pose1_to_pose2_press,0.575677866171,9.07259779401e-05,1.06003242374,0.546248318228,0.00876246702095,1.05970055176
+117,1.950000000,pose1_to_pose2_press,0.575694088805,9.08126989893e-05,1.06003224084,0.546264538744,0.00876254668124,1.05970037203
+118,1.966666667,pose1_to_pose2_press,0.575720677956,9.08705440758e-05,1.06003224813,0.546291127888,0.00876260439795,1.05970037658
+119,1.983333333,pose1_to_pose2_press,0.575757147853,9.08682549738e-05,1.06003241606,0.546327599583,0.00876260830708,1.059700547
+120,2.000000000,pose1_to_pose2_press,0.575803636741,9.08509038275e-05,1.06003213295,0.546374087886,0.00876258901165,1.05970026488
+121,2.016666667,pose1_to_pose2_press,0.575858201076,9.08470811694e-05,1.06003233298,0.54642865208,0.00876258480229,1.05970046727
+122,2.033333333,pose1_to_pose2_press,0.575920922797,9.07696784893e-05,1.06003239219,0.546491374968,0.00876251117989,1.05970052166
+123,2.050000000,pose1_to_pose2_press,0.575990872522,9.08389301122e-05,1.06003243829,0.546561323304,0.00876257584079,1.05970057092
+124,2.066666667,pose1_to_pose2_press,0.576068269655,9.0914602966e-05,1.06003237175,0.546638719085,0.00876264677846,1.05970050043
+125,2.083333333,pose1_to_pose2_press,0.576158320557,9.09860262899e-05,1.06003245094,0.546728770512,0.00876272027077,1.05970058716
+126,2.100000000,pose1_to_pose2_press,0.57626189245,9.08425626126e-05,1.06003246872,0.546832342619,0.00876257729581,1.05970059867
+127,2.116666667,pose1_to_pose2_press,0.576380770807,9.07885061439e-05,1.06003223347,0.546951221994,0.00876252696116,1.05970037043
+128,2.133333333,pose1_to_pose2_press,0.576516151154,9.06305709927e-05,1.06003222501,0.547086603584,0.00876237308359,1.05970035769
+129,2.150000000,pose1_to_pose2_press,0.576668998028,9.08209105613e-05,1.06003240765,0.547239449193,0.00876255923919,1.05970054312
+130,2.166666667,pose1_to_pose2_press,0.57683847322,9.0765975849e-05,1.06003239112,0.547408924572,0.00876250476798,1.05970052203
+131,2.183333333,pose1_to_pose2_press,0.577024646817,9.07571595199e-05,1.06003250435,0.547595098171,0.00876249596667,1.05970063534
+132,2.200000000,pose1_to_pose2_press,0.577230018034,9.0785507216e-05,1.06003236685,0.547800469596,0.00876252503536,1.05970049821
+133,2.216666667,pose1_to_pose2_press,0.577455404328,9.07957321498e-05,1.06003230976,0.548025855211,0.00876253281127,1.05970043726
+134,2.233333333,pose1_to_pose2_press,0.577703585407,9.08253849525e-05,1.06003242986,0.548274036516,0.00876256318736,1.05970055619
+135,2.250000000,pose1_to_pose2_press,0.577970725075,9.07769440407e-05,1.06003232541,0.548541177206,0.00876251821857,1.05970045174
+136,2.266666667,pose1_to_pose2_press,0.578255488265,9.07589599043e-05,1.06003216028,0.548825939829,0.00876249844276,1.05970029004
+137,2.283333333,pose1_to_pose2_press,0.578562593163,9.08591813239e-05,1.060032223,0.549133044207,0.0087625969664,1.05970035449
+138,2.300000000,pose1_to_pose2_press,0.578889417629,9.0833260132e-05,1.0600322974,0.549459869827,0.00876257465848,1.05970042094
+139,2.316666667,pose1_to_pose2_press,0.579234354641,9.07896923298e-05,1.06003232553,0.549804806743,0.00876253113267,1.05970045855
+140,2.333333333,pose1_to_pose2_press,0.579597923393,9.07824714302e-05,1.06003223305,0.550168374248,0.00876251959107,1.05970036376
+141,2.350000000,pose1_to_pose2_press,0.579981254723,9.07384169338e-05,1.06003226033,0.55055170681,0.00876247954114,1.05970038633
+142,2.366666667,pose1_to_pose2_press,0.580379511129,9.09212296024e-05,1.06003236523,0.550949961009,0.00876265493997,1.05970049317
+143,2.383333333,pose1_to_pose2_press,0.580793669499,9.09179675134e-05,1.06003232401,0.551364119656,0.00876265292911,1.05970045994
+144,2.400000000,pose1_to_pose2_press,0.581237799275,9.06968564574e-05,1.06003223865,0.551808252474,0.0087624421693,1.05970037524
+145,2.416666667,pose1_to_pose2_press,0.581711166142,9.06875194105e-05,1.06003221905,0.552281618518,0.00876242999708,1.05970035452
+146,2.433333333,pose1_to_pose2_press,0.582213881152,9.07989907128e-05,1.06003220629,0.55278433232,0.00876253745361,1.059700344
+147,2.450000000,pose1_to_pose2_press,0.582738693483,9.0865320648e-05,1.0600323036,0.553309143678,0.0087626002321,1.05970043468
+148,2.466666667,pose1_to_pose2_press,0.583282212216,9.09253011802e-05,1.06003235791,0.553852660735,0.00876265443349,1.05970048653
+149,2.483333333,pose1_to_pose2_press,0.583835286057,9.09621106571e-05,1.06003240815,0.554405734619,0.00876269142045,1.05970053756
+150,2.500000000,pose1_to_pose2_press,0.584401906508,9.0899339274e-05,1.06003242794,0.554972357526,0.00876263701095,1.05970055801
+151,2.516666667,pose1_to_pose2_press,0.584995953714,9.08037467491e-05,1.06003233875,0.555566406168,0.00876254639043,1.05970047138
+152,2.533333333,pose1_to_pose2_press,0.585617331522,9.08193050883e-05,1.06003232459,0.556187782391,0.00876255647914,1.05970045481
+153,2.550000000,pose1_to_pose2_press,0.586265255796,9.08439240546e-05,1.06003220912,0.556835706045,0.00876257939412,1.05970034974
+154,2.566666667,pose1_to_pose2_press,0.586922182849,9.0775243609e-05,1.06003237778,0.557492634435,0.00876251493691,1.05970051021
+155,2.583333333,pose1_to_pose2_press,0.587580462856,9.08226208855e-05,1.06003259403,0.558150913851,0.0087625600069,1.05970071852
+156,2.600000000,pose1_to_pose2_press,0.588239347744,9.07582785422e-05,1.06003227282,0.558809800772,0.00876250257973,1.05970039771
+157,2.616666667,pose1_to_pose2_press,0.588906258035,9.06940069827e-05,1.0600324642,0.559476710932,0.00876243789652,1.05970058999
+158,2.633333333,pose1_to_pose2_press,0.589595509621,9.06856801172e-05,1.06003230484,0.560165962182,0.00876242849699,1.05970043232
+159,2.650000000,pose1_to_pose2_press,0.590313274679,9.07858545602e-05,1.06003230896,0.560883725749,0.00876252377241,1.05970044061
+160,2.666666667,pose1_to_pose2_press,0.591059436903,9.07886022134e-05,1.06003224743,0.561629887287,0.00876252440216,1.05970038464
+161,2.683333333,pose1_to_pose2_press,0.591821281518,9.07880295658e-05,1.06003222608,0.562391732907,0.00876252705885,1.05970035849
+162,2.700000000,pose1_to_pose2_press,0.592593336963,9.083236237e-05,1.06003236949,0.563163788298,0.00876257108149,1.05970049863
+163,2.716666667,pose1_to_pose2_press,0.593363705252,9.08458232434e-05,1.06003236307,0.563934156205,0.00876258323592,1.05970049197
+164,2.733333333,pose1_to_pose2_press,0.594129906839,9.07407953992e-05,1.06003234951,0.564700359547,0.0087624840759,1.05970047606
+165,2.750000000,pose1_to_pose2_press,0.594886754809,9.06617983105e-05,1.06003240366,0.565457208669,0.00876240906915,1.05970053234
+166,2.766666667,pose1_to_pose2_press,0.595643615588,9.07945351586e-05,1.0600322414,0.566214067162,0.00876253432424,1.05970037734
+167,2.783333333,pose1_to_pose2_press,0.596405332353,9.08513835979e-05,1.06003232659,0.566975782916,0.00876258775449,1.05970046288
+168,2.800000000,pose1_to_pose2_press,0.597175600108,9.08020221405e-05,1.0600323657,0.567746050698,0.00876253811765,1.05970049254
+169,2.816666667,pose1_to_pose2_press,0.597960512559,9.06864942186e-05,1.06003221191,0.56853096521,0.00876242996833,1.05970034876
+170,2.833333333,pose1_to_pose2_press,0.598769448814,9.10167723226e-05,1.06003236896,0.569339897032,0.00876274470539,1.05970049291
+171,2.850000000,pose1_to_pose2_press,0.599589326038,9.07032356503e-05,1.06003247027,0.570159780571,0.00876245271418,1.05970059729
+172,2.866666667,pose1_to_pose2_press,0.600414004024,9.07378860391e-05,1.06003258428,0.570984456557,0.00876248063855,1.05970071283
+173,2.883333333,pose1_to_pose2_press,0.601217958318,9.07411894794e-05,1.06003227504,0.571788409986,0.00876248131831,1.05970041185
+174,2.900000000,pose1_to_pose2_press,0.601995355811,9.07238454085e-05,1.06003231913,0.572565808365,0.00876246678417,1.05970045085
+175,2.916666667,pose1_to_pose2_press,0.602747018352,9.08087550869e-05,1.06003233524,0.573317470538,0.00876255051427,1.05970046883
+176,2.933333333,pose1_to_pose2_press,0.603483179006,9.08488508248e-05,1.06003196198,0.574053629493,0.0087625852332,1.05970010584
+177,2.950000000,pose1_to_pose2_press,0.604221087357,9.07737269418e-05,1.0600321019,0.574791538747,0.00876251292021,1.0597002392
+178,2.966666667,pose1_to_pose2_press,0.604973383375,9.07503846563e-05,1.0600324861,0.575543836437,0.00876249474655,1.05970061028
+179,2.983333333,pose1_to_pose2_press,0.605740240842,9.08148685354e-05,1.06003217903,0.576310693551,0.00876255839015,1.05970031258
+180,3.000000000,pose1_to_pose2_press,0.606506804944,9.07809417321e-05,1.06003211687,0.577077258472,0.0087625274353,1.05970025558
+181,3.016666667,pose1_to_pose2_press,0.607260538333,9.08099553151e-05,1.06003215234,0.577830990634,0.00876255205606,1.05970028518
+182,3.033333333,pose1_to_pose2_press,0.607977552402,9.07335187212e-05,1.06003204206,0.578548005437,0.00876247821561,1.05970017776
+183,3.050000000,pose1_to_pose2_press,0.608659737929,9.06488507121e-05,1.06003217218,0.579230189988,0.00876239032781,1.05970031032
+184,3.066666667,pose1_to_pose2_press,0.609304245608,9.05991106436e-05,1.06003213158,0.57987469834,0.00876234268082,1.05970026487
+185,3.083333333,pose1_to_pose2_press,0.609924646671,9.08763168816e-05,1.06003240386,0.580495097788,0.00876261474234,1.05970054601
+186,3.100000000,pose1_to_pose2_press,0.610524701973,9.07484815397e-05,1.06003240883,0.581095154609,0.00876249133121,1.05970053196
+187,3.116666667,pose1_to_pose2_press,0.611118055261,9.06882926299e-05,1.06003233054,0.581688508523,0.00876243377589,1.05970046707
+188,3.133333333,pose1_to_pose2_press,0.611708021654,9.07343649054e-05,1.0600322458,0.582278474326,0.0087624779197,1.05970038433
+189,3.150000000,pose1_to_pose2_press,0.61229337608,9.07107926347e-05,1.06003234741,0.582863829052,0.008762455187,1.05970048205
+190,3.166666667,pose1_to_pose2_press,0.612865094378,9.06770849688e-05,1.06003234887,0.583435546994,0.00876242032816,1.05970048434
+191,3.183333333,pose1_to_pose2_press,0.61341682265,9.07892957185e-05,1.06003221161,0.583987273753,0.00876252754851,1.05970034824
+192,3.200000000,pose1_to_pose2_press,0.613936662925,9.08440105903e-05,1.06003212891,0.584507113686,0.00876258122364,1.05970026485
+193,3.216666667,pose1_to_pose2_press,0.614427064759,9.07246768131e-05,1.06003202012,0.584997515524,0.00876246209746,1.05970015513
+194,3.233333333,pose1_to_pose2_press,0.614894555375,9.09372374431e-05,1.06003223422,0.585465004461,0.00876266917423,1.05970036792
+195,3.250000000,pose1_to_pose2_press,0.615345040891,9.07474969161e-05,1.06003230962,0.585915492017,0.00876248691544,1.05970044958
+196,3.266666667,pose1_to_pose2_press,0.615781779695,9.07297856532e-05,1.06003242043,0.586352231503,0.00876247171756,1.0597005591
+197,3.283333333,pose1_to_pose2_press,0.616201994189,9.07476940374e-05,1.06003226758,0.58677244685,0.00876249257167,1.05970040034
+198,3.300000000,pose1_to_pose2_press,0.616603384714,9.07592259465e-05,1.06003223551,0.587173835198,0.00876249692821,1.05970036543
+199,3.316666667,pose1_to_pose2_press,0.616979876642,9.08217219029e-05,1.06003221686,0.587550327353,0.00876256057585,1.05970035171
+200,3.333333333,pose1_to_pose2_press,0.617332231508,9.08391316562e-05,1.06003220597,0.587902682338,0.00876257871263,1.05970034265
+201,3.350000000,pose1_to_pose2_press,0.617661264644,9.08229984026e-05,1.06003227254,0.58823171519,0.00876256174337,1.0597004049
+202,3.366666667,pose1_to_pose2_press,0.617972511083,9.07956825125e-05,1.06003237147,0.588542961774,0.00876253495866,1.05970049805
+203,3.383333333,pose1_to_pose2_press,0.618267487875,9.07127879784e-05,1.06003235544,0.58883793867,0.00876245260774,1.05970048042
+204,3.400000000,pose1_to_pose2_press,0.618549262582,9.06721938843e-05,1.06003224589,0.589119715125,0.00876241832923,1.05970037725
+205,3.416666667,pose1_to_pose2_press,0.618817169852,9.08736263031e-05,1.06003236648,0.589387618799,0.00876260765837,1.05970049208
+206,3.433333333,pose1_to_pose2_press,0.619064900147,9.09976627219e-05,1.06003245341,0.589635348049,0.00876272862038,1.05970058722
+207,3.450000000,pose1_to_pose2_press,0.619293400753,9.10002761088e-05,1.06003223763,0.589863848367,0.00876273041597,1.05970037086
+208,3.466666667,pose1_to_pose2_press,0.619501588916,9.09099503708e-05,1.06003235754,0.590072037694,0.00876264400239,1.05970048542
+209,3.483333333,pose1_to_pose2_press,0.619690221113,9.07234516316e-05,1.06003232792,0.59026067223,0.00876246595342,1.05970046465
+210,3.500000000,pose1_to_pose2_press,0.61985851019,9.08513496106e-05,1.06003234537,0.590428958772,0.00876258519668,1.05970047756
+211,3.516666667,pose1_to_pose2_press,0.620008610062,9.08520225959e-05,1.06003225059,0.590579059136,0.00876258789503,1.05970038532
+212,3.533333333,pose1_to_pose2_press,0.620140605984,9.08491548606e-05,1.06003236817,0.590711056134,0.00876258871065,1.05970050296
+213,3.550000000,pose1_to_pose2_press,0.620254881279,9.07461017837e-05,1.06003239178,0.590825332962,0.00876249091904,1.05970052693
+214,3.566666667,pose1_to_pose2_press,0.620354397815,9.0733359298e-05,1.06003238334,0.590924848918,0.00876247628409,1.05970051852
+215,3.583333333,pose1_to_pose2_press,0.62044028029,9.08843528265e-05,1.06003244703,0.591010728583,0.00876261760292,1.05970057911
+216,3.600000000,pose1_to_pose2_press,0.620516224799,9.0891247035e-05,1.06003236177,0.591086673023,0.00876262399209,1.05970048922
+217,3.616666667,pose1_to_pose2_press,0.620582651935,9.07235741823e-05,1.06003222865,0.591153102354,0.00876246403658,1.05970036291
+218,3.633333333,pose1_to_pose2_press,0.620640656231,9.07647354719e-05,1.06003228211,0.591211106479,0.00876250499982,1.05970042163
+219,3.650000000,pose1_to_pose2_press,0.620690700196,9.07551640555e-05,1.06003236107,0.591261151372,0.00876249845554,1.05970048986
+220,3.666666667,pose1_to_pose2_press,0.62073234098,9.07570934449e-05,1.0600323594,0.591302792252,0.00876250079042,1.05970048801
+221,3.683333333,pose1_to_pose2_press,0.620767005543,9.07719232304e-05,1.06003233784,0.59133745656,0.00876251484517,1.05970047093
+222,3.700000000,pose1_to_pose2_press,0.620794867167,9.0755734599e-05,1.06003236607,0.59136531821,0.00876249847762,1.05970049372
+223,3.716666667,pose1_to_pose2_press,0.620816460184,9.07146714174e-05,1.0600323859,0.591386909886,0.00876245265884,1.05970050732
+224,3.733333333,pose1_to_pose2_press,0.620832350925,9.06574736819e-05,1.06003214968,0.591402802966,0.00876240384784,1.05970028193
+225,3.750000000,pose1_to_pose2_press,0.620844013595,9.06582481967e-05,1.06003228564,0.591414465233,0.00876240326897,1.05970041822
+226,3.766666667,pose1_to_pose2_press,0.620852285765,9.06853147867e-05,1.06003248604,0.591422736557,0.00876242739146,1.05970061649
+227,3.783333333,pose1_to_pose2_press,0.620857509427,9.07449262987e-05,1.06003254809,0.591427960773,0.00876248899484,1.05970067961
+228,3.800000000,pose1_to_pose2_press,0.620861404373,9.0789805093e-05,1.06003259268,0.591431856094,0.00876253522641,1.05970072494
+229,3.816666667,pose1_to_pose2_press,0.620864384436,9.08449327857e-05,1.06003254595,0.591434834608,0.00876258499189,1.05970067614
+230,3.833333333,pose1_to_pose2_press,0.620866413502,9.08824681469e-05,1.06003251413,0.591436862619,0.00876261887623,1.05970064291
+231,3.850000000,pose1_to_pose2_press,0.620867657282,9.09054766252e-05,1.06003249463,0.591438105752,0.0087626396467,1.05970062254
+232,3.866666667,pose1_to_pose2_press,0.620868314912,9.09087623495e-05,1.06003247844,0.591438763203,0.0087626423061,1.05970060614
+233,3.883333333,pose1_to_pose2_press,0.620868532085,9.08955063039e-05,1.0600324636,0.591438980577,0.00876262974278,1.05970059163
+234,3.900000000,pose1_to_pose2_press,0.620868542806,9.08948519012e-05,1.06003246287,0.591438991308,0.00876262912258,1.05970059092
+235,3.916666667,pose1_to_pose2_press,0.620868739694,9.08828340278e-05,1.06003244941,0.591439188379,0.00876261773273,1.05970057776
+236,3.933333333,pose1_to_pose2_press,0.620869200973,9.08546779802e-05,1.06003241789,0.591439650085,0.00876259104805,1.05970054694
+237,3.950000000,pose1_to_pose2_press,0.62086987001,9.08138406134e-05,1.06003237217,0.591440319742,0.00876255234474,1.05970050224
+238,3.966666667,pose1_to_pose2_press,0.620870600313,9.07692635633e-05,1.06003232227,0.591441050722,0.00876251009718,1.05970045345
+239,3.983333333,pose1_to_pose2_press,0.620871307147,9.07261190453e-05,1.06003227397,0.591441758211,0.00876246920729,1.05970040622
+240,4.000000000,pose1_to_pose2_press,0.620871832709,9.06940391897e-05,1.06003223805,0.591442284261,0.00876243880386,1.05970037111
+241,4.016666667,pose1_to_pose2_press,0.620872088045,9.0678453757e-05,1.06003222061,0.591442539833,0.00876242403288,1.05970035405
+242,4.033333333,pose1_to_pose2_press,0.620872497601,9.07131021014e-05,1.06003226157,0.591442948847,0.00876245687684,1.0597003952
+243,4.050000000,pose1_to_pose2_press,0.620872970293,9.07554787372e-05,1.06003231161,0.591443420877,0.00876249704645,1.05970044543
+244,4.066666667,pose1_to_pose2_press,0.620873003628,9.07584672458e-05,1.06003231514,0.591443454166,0.00876249987931,1.05970044897
+245,4.083333333,pose1_to_pose2_press,0.620873228628,9.07786383415e-05,1.06003233895,0.59144367885,0.00876251899987,1.05970047288
+246,4.100000000,pose1_to_pose2_press,0.620873560207,9.08083642775e-05,1.06003237405,0.591444009965,0.00876254717764,1.05970050812
+247,4.116666667,pose1_to_pose2_press,0.620873991143,9.08469975508e-05,1.06003241967,0.591444440298,0.00876258379884,1.05970055391
+248,4.133333333,pose1_to_pose2_press,0.620874382234,9.08676382852e-05,1.06003245707,0.591444831042,0.00876260325545,1.05970059064
+249,4.150000000,pose1_to_pose2_press,0.620874415829,9.08638283276e-05,1.06003245874,0.591444864684,0.00876259959229,1.05970059192
+250,4.166666667,pose1_to_pose2_press,0.620874655044,9.08366991311e-05,1.0600324706,0.59144510424,0.00876257350841,1.05970060107
+251,4.183333333,pose1_to_pose2_press,0.620875136889,9.07820535382e-05,1.06003249448,0.591445586771,0.00876252096838,1.05970061949
+252,4.200000000,pose1_to_pose2_press,0.620875498647,9.0788220445e-05,1.06003250466,0.591445949219,0.00876252938316,1.05970062794
+253,4.216666667,pose1_to_pose2_press,0.620875625649,9.08030919459e-05,1.06003250615,0.59144607651,0.00876254522342,1.05970062946
+254,4.233333333,pose1_to_pose2_press,0.620875640546,9.08066282049e-05,1.06003248145,0.591446091257,0.00876254828301,1.05970060572
+255,4.250000000,pose1_to_pose2_press,0.62087562796,9.08074020052e-05,1.06003245011,0.591446078412,0.00876254822039,1.05970057558
+256,4.266666667,pose1_to_pose2_press,0.620875711178,9.07797019604e-05,1.06003228257,0.591446161588,0.0087625201131,1.05970040151
+257,4.283333333,pose2_hold,0.620875711178,9.07797019604e-05,1.06003228257,0.591446161593,0.00876252011253,1.05970040152
+258,4.300000000,pose2_hold,0.620875711178,9.07797019604e-05,1.06003228257,0.591446161593,0.00876252011253,1.05970040152
+259,4.316666667,pose2_hold,0.620875711178,9.07797019604e-05,1.06003228257,0.591446161593,0.00876252011254,1.05970040152
+260,4.333333333,pose2_hold,0.620875711178,9.07797019604e-05,1.06003228257,0.591446161593,0.00876252011256,1.05970040152
+261,4.350000000,pose2_hold,0.620875711178,9.07797019604e-05,1.06003228257,0.591446161593,0.00876252011257,1.05970040152
+262,4.366666667,pose2_hold,0.620875711178,9.07797019604e-05,1.06003228257,0.591446161593,0.00876252011259,1.05970040152
+263,4.383333333,pose2_hold,0.620875711178,9.07797019604e-05,1.06003228257,0.591446161593,0.0087625201126,1.05970040152
+264,4.400000000,pose2_hold,0.620875711178,9.07797019604e-05,1.06003228257,0.591446161593,0.0087625201127,1.05970040152
+265,4.416666667,pose2_hold,0.620875711178,9.07797019604e-05,1.06003228257,0.591446161594,0.00876252011273,1.05970040152
+266,4.433333333,pose2_hold,0.620875711178,9.07797019604e-05,1.06003228257,0.591446161594,0.00876252011274,1.05970040152
+267,4.450000000,pose2_hold,0.620875711178,9.07797019604e-05,1.06003228257,0.591446161594,0.00876252011282,1.05970040152
+268,4.466666667,pose2_hold,0.620875711178,9.07797019604e-05,1.06003228257,0.591446161594,0.00876252011285,1.05970040152
+269,4.483333333,pose2_hold,0.620875711178,9.07797019604e-05,1.06003228257,0.591446161594,0.00876252011274,1.05970040152
+270,4.500000000,pose2_hold,0.620875711178,9.07797019604e-05,1.06003228257,0.591446161594,0.00876252011274,1.05970040152
+271,4.516666667,pose2_hold,0.620875711178,9.07797019604e-05,1.06003228257,0.591446161594,0.00876252011274,1.05970040152
+272,4.533333333,pose2_hold,0.620875711178,9.07797019604e-05,1.06003228257,0.591446161594,0.00876252011275,1.05970040152
+273,4.550000000,pose2_to_pose3_retreat,0.620875711178,9.07797019604e-05,1.06003228257,0.591446161594,0.00876252011287,1.05970040152
+274,4.566666667,pose2_to_pose3_retreat,0.62087564486,9.08058570892e-05,1.06003250494,0.591446095767,0.00876254811151,1.05970062821
+275,4.583333333,pose2_to_pose3_retreat,0.62087551913,9.08024680561e-05,1.06003247196,0.591445969579,0.00876254313241,1.05970059426
+276,4.600000000,pose2_to_pose3_retreat,0.620875427065,9.07999864562e-05,1.06003244781,0.591445877178,0.00876253948648,1.0597005694
+277,4.616666667,pose2_to_pose3_retreat,0.62087534826,9.07978622953e-05,1.06003242714,0.591445798086,0.0087625363657,1.05970054812
+278,4.633333333,pose2_to_pose3_retreat,0.620875142633,9.07997326745e-05,1.06003240361,0.591445591895,0.00876253632636,1.05970052468
+279,4.650000000,pose2_to_pose3_retreat,0.620875104253,9.08017578591e-05,1.06003240609,0.591445553452,0.00876253815129,1.05970052755
+280,4.666666667,pose2_to_pose3_retreat,0.62087448846,9.08342513092e-05,1.06003244591,0.591444936641,0.00876256743168,1.05970057375
+281,4.683333333,pose2_to_pose3_retreat,0.62087209807,9.07646548365e-05,1.06003228622,0.59144254731,0.00876250154107,1.05970041816
+282,4.700000000,pose2_to_pose3_retreat,0.620865075384,9.07714837065e-05,1.06003234234,0.591435525501,0.00876251137994,1.05970047585
+283,4.716666667,pose2_to_pose3_retreat,0.620851213619,9.07404546153e-05,1.06003225258,0.591421665321,0.0087624859072,1.05970038904
+284,4.733333333,pose2_to_pose3_retreat,0.62082662505,9.08415313864e-05,1.06003235502,0.591397075028,0.00876258096918,1.05970048751
+285,4.750000000,pose2_to_pose3_retreat,0.620791057848,9.07483174566e-05,1.06003238173,0.591361509086,0.00876249197041,1.05970050977
+286,4.766666667,pose2_to_pose3_retreat,0.620744172394,9.08182641317e-05,1.06003218831,0.591314622922,0.00876255997709,1.05970032895
+287,4.783333333,pose2_to_pose3_retreat,0.620688032707,9.07647497423e-05,1.06003243375,0.591258483491,0.00876250658349,1.05970056294
+288,4.800000000,pose2_to_pose3_retreat,0.620623236211,9.07945202065e-05,1.06003228289,0.591193686939,0.00876253590013,1.05970041022
+289,4.816666667,pose2_to_pose3_retreat,0.620551143486,9.07437926502e-05,1.06003214989,0.591121594041,0.00876248482778,1.05970027817
+290,4.833333333,pose2_to_pose3_retreat,0.620471200497,9.06973226596e-05,1.06003219866,0.591041651038,0.00876243820598,1.05970032773
+291,4.850000000,pose2_to_pose3_retreat,0.620380224206,9.0718350133e-05,1.06003227962,0.590950675738,0.00876246262611,1.05970041353
+292,4.866666667,pose2_to_pose3_retreat,0.62027761343,9.07727361716e-05,1.06003231281,0.590848064923,0.00876251699712,1.05970045172
+293,4.883333333,pose2_to_pose3_retreat,0.620161143883,9.08122333815e-05,1.0600323689,0.590731593992,0.00876255158207,1.05970050392
+294,4.900000000,pose2_to_pose3_retreat,0.620029954955,9.0801399928e-05,1.0600324965,0.59060040465,0.00876253882187,1.05970062039
+295,4.916666667,pose2_to_pose3_retreat,0.61988251008,9.072351365e-05,1.06003245513,0.590452961865,0.0087624682933,1.05970058752
+296,4.933333333,pose2_to_pose3_retreat,0.619716024374,9.0815207738e-05,1.06003222965,0.590286475685,0.00876255817631,1.05970036311
+297,4.950000000,pose2_to_pose3_retreat,0.619530148846,9.08314879654e-05,1.06003231971,0.590100599259,0.00876257128089,1.05970045363
+298,4.966666667,pose2_to_pose3_retreat,0.619322335248,9.07977650617e-05,1.06003226297,0.589892785702,0.00876253738336,1.05970039354
+299,4.983333333,pose2_to_pose3_retreat,0.619093453324,9.07851157201e-05,1.0600322945,0.589663902976,0.0087625219663,1.05970042828
+300,5.000000000,pose2_to_pose3_retreat,0.618842286119,9.08223024694e-05,1.06003226584,0.589412735828,0.00876255914112,1.05970039953
+301,5.016666667,pose2_to_pose3_retreat,0.61857208401,9.08677777864e-05,1.06003228845,0.589142533788,0.00876260455553,1.05970042016
+302,5.033333333,pose2_to_pose3_retreat,0.618283134547,9.0856154889e-05,1.0600322982,0.588853584081,0.00876259193315,1.05970043013
+303,5.050000000,pose2_to_pose3_retreat,0.617968884658,9.08555291168e-05,1.06003226321,0.58853933447,0.00876259204574,1.0597003957
+304,5.066666667,pose2_to_pose3_retreat,0.617632632206,9.09200310297e-05,1.06003237063,0.588203082293,0.00876265711139,1.05970050298
+305,5.083333333,pose2_to_pose3_retreat,0.617280101994,9.08097328743e-05,1.06003241152,0.587850551493,0.00876254464165,1.05970054724
+306,5.100000000,pose2_to_pose3_retreat,0.616911233477,9.07036970147e-05,1.06003218013,0.587481684402,0.00876244348996,1.05970032251
+307,5.116666667,pose2_to_pose3_retreat,0.616523779764,9.08509531396e-05,1.06003232753,0.587094229823,0.0087625871443,1.05970046087
+308,5.133333333,pose2_to_pose3_retreat,0.61612094173,9.07015277866e-05,1.06003233716,0.586691395194,0.00876244906762,1.05970047176
+309,5.150000000,pose2_to_pose3_retreat,0.615698347854,9.08216178003e-05,1.06003226476,0.586268798849,0.00876256051333,1.05970039951
+310,5.166666667,pose2_to_pose3_retreat,0.61524169824,9.08813214589e-05,1.06003215122,0.585812147711,0.00876261477086,1.05970028651
+311,5.183333333,pose2_to_pose3_retreat,0.614756021437,9.08405382358e-05,1.06003212695,0.585326471055,0.00876257425456,1.05970026381
+312,5.200000000,pose2_to_pose3_retreat,0.61424681486,9.08672620822e-05,1.06003227702,0.584817264086,0.00876259930415,1.05970041243
+313,5.216666667,pose2_to_pose3_retreat,0.613721982771,9.08538344471e-05,1.06003240604,0.584292433733,0.00876259143073,1.05970053885
+314,5.233333333,pose2_to_pose3_retreat,0.613184555665,9.06855561373e-05,1.06003217728,0.583755009175,0.00876243210119,1.05970032074
+315,5.250000000,pose2_to_pose3_retreat,0.61263753224,9.07955270579e-05,1.06003217874,0.583207984056,0.00876253619551,1.05970032093
+316,5.266666667,pose2_to_pose3_retreat,0.612075190086,9.0667919991e-05,1.06003240181,0.582645644248,0.00876241645842,1.05970053998
+317,5.283333333,pose2_to_pose3_retreat,0.611478278871,9.06537554546e-05,1.06003240333,0.582048732582,0.00876240039259,1.05970053196
+318,5.300000000,pose2_to_pose3_retreat,0.610850928595,9.08151958137e-05,1.06003236276,0.581421378601,0.00876254923143,1.05970049076
+319,5.316666667,pose2_to_pose3_retreat,0.610197464973,9.09040730503e-05,1.06003241966,0.580767915317,0.00876263929807,1.05970054875
+320,5.333333333,pose2_to_pose3_retreat,0.609525919826,9.07775490363e-05,1.06003243256,0.580096373276,0.00876252329834,1.05970056154
+321,5.350000000,pose2_to_pose3_retreat,0.608840728338,9.06530172732e-05,1.06003239093,0.579411182248,0.00876240038552,1.05970052174
+322,5.366666667,pose2_to_pose3_retreat,0.608152394756,9.07414940484e-05,1.06003245073,0.578722847674,0.00876248550487,1.05970058195
+323,5.383333333,pose2_to_pose3_retreat,0.607453670978,9.08201052496e-05,1.06003235603,0.578024122183,0.00876255825791,1.05970048545
+324,5.400000000,pose2_to_pose3_retreat,0.606731558593,9.07933161978e-05,1.06003240881,0.577302010851,0.00876253455502,1.05970052661
+325,5.416666667,pose2_to_pose3_retreat,0.605990611949,9.07128013346e-05,1.06003239532,0.576561063688,0.00876245241598,1.0597005156
+326,5.433333333,pose2_to_pose3_retreat,0.605234106543,9.0728088195e-05,1.06003234321,0.575804559281,0.00876247154497,1.05970047637
+327,5.450000000,pose2_to_pose3_retreat,0.604451516332,9.08799461441e-05,1.0600322441,0.575021966861,0.00876261598147,1.05970037911
+328,5.466666667,pose2_to_pose3_retreat,0.603645340548,9.08622977769e-05,1.0600323137,0.574215790602,0.00876259653657,1.05970044384
+329,5.483333333,pose2_to_pose3_retreat,0.602835927157,9.084295962e-05,1.06003233813,0.573406378241,0.00876258084509,1.05970047247
+330,5.500000000,pose2_to_pose3_retreat,0.602023427429,9.08148316e-05,1.06003232737,0.572593878169,0.00876255161108,1.05970046252
+331,5.516666667,pose2_to_pose3_retreat,0.601210156138,9.07891935083e-05,1.06003231888,0.57178060702,0.00876252654867,1.05970045575
+332,5.533333333,pose2_to_pose3_retreat,0.600411177543,9.08143504721e-05,1.06003237947,0.57098162862,0.00876255228998,1.05970051355
+333,5.550000000,pose2_to_pose3_retreat,0.599626558437,9.07965088625e-05,1.06003245064,0.570197008459,0.00876253048478,1.05970057364
+334,5.566666667,pose2_to_pose3_retreat,0.598837295629,9.06900152185e-05,1.0600322019,0.569407747929,0.00876243236952,1.05970034252
+335,5.583333333,pose2_to_pose3_retreat,0.598037558926,9.0895725517e-05,1.06003233733,0.568608009632,0.00876263233647,1.05970047
+336,5.600000000,pose2_to_pose3_retreat,0.597214201396,9.06947440856e-05,1.06003221959,0.567784652913,0.00876243419973,1.05970035453
+337,5.616666667,pose2_to_pose3_retreat,0.596374098245,9.07453874612e-05,1.06003219429,0.566944549575,0.00876248437684,1.0597003336
+338,5.633333333,pose2_to_pose3_retreat,0.595522960019,9.06932278236e-05,1.06003240386,0.566093412739,0.00876243682791,1.05970054046
+339,5.650000000,pose2_to_pose3_retreat,0.594692632382,9.07271077841e-05,1.06003229976,0.56526308502,0.0087624701142,1.05970042799
+340,5.666666667,pose2_to_pose3_retreat,0.593893344616,9.07315232766e-05,1.06003240527,0.564463796444,0.00876247173433,1.05970053335
+341,5.683333333,pose2_to_pose3_retreat,0.593126785788,9.07717930295e-05,1.06003239251,0.563697236858,0.00876250963257,1.05970052463
+342,5.700000000,pose2_to_pose3_retreat,0.592384837421,9.08317176898e-05,1.06003222614,0.562955287311,0.00876256568343,1.05970036022
+343,5.716666667,pose2_to_pose3_retreat,0.591655438644,9.08537850457e-05,1.06003219896,0.562225888218,0.00876258658511,1.05970033157
+344,5.733333333,pose2_to_pose3_retreat,0.590917240142,9.07999491133e-05,1.06003241321,0.561487692004,0.00876254038208,1.05970054487
+345,5.750000000,pose2_to_pose3_retreat,0.590164875746,9.06879554471e-05,1.06003207451,0.560735328512,0.00876243179644,1.05970021348
+346,5.766666667,pose2_to_pose3_retreat,0.589404096997,9.08205011539e-05,1.06003207847,0.559974547951,0.00876255817796,1.05970021562
+347,5.783333333,pose2_to_pose3_retreat,0.588644085051,9.08339358591e-05,1.06003210328,0.559214536151,0.00876257196032,1.05970023643
+348,5.800000000,pose2_to_pose3_retreat,0.58791600419,9.08946406218e-05,1.06003220148,0.55848645494,0.00876263153188,1.05970033602
+349,5.816666667,pose2_to_pose3_retreat,0.58722110312,9.08394344132e-05,1.06003233018,0.557791553287,0.008762574158,1.05970045981
+350,5.833333333,pose2_to_pose3_retreat,0.586562654744,9.07636080003e-05,1.06003234872,0.557133105538,0.00876250049723,1.05970047925
+351,5.850000000,pose2_to_pose3_retreat,0.585933871779,9.07337626894e-05,1.06003241942,0.556504322923,0.0087624718612,1.05970055043
+352,5.866666667,pose2_to_pose3_retreat,0.585326656384,9.07521365543e-05,1.06003248739,0.555897108565,0.0087624936463,1.05970061562
+353,5.883333333,pose2_to_pose3_retreat,0.584720166703,9.07747511212e-05,1.06003244989,0.555290619785,0.00876251930877,1.05970057767
+354,5.900000000,pose2_to_pose3_retreat,0.584114632987,9.07521530434e-05,1.06003235954,0.554685085092,0.00876249365205,1.05970049399
+355,5.916666667,pose2_to_pose3_retreat,0.583515572735,9.07344799144e-05,1.06003243075,0.554086025164,0.00876247707903,1.05970056521
+356,5.933333333,pose2_to_pose3_retreat,0.582936806141,9.08185572425e-05,1.06003235686,0.553507258057,0.00876255924517,1.05970048693
+357,5.950000000,pose2_to_pose3_retreat,0.582387565505,9.06776510411e-05,1.06003233718,0.552958019133,0.00876242433475,1.05970047207
+358,5.966666667,pose2_to_pose3_retreat,0.581868634542,9.08713582717e-05,1.06003233929,0.552439085449,0.00876260871095,1.0597004716
+359,5.983333333,pose2_to_pose3_retreat,0.581377006381,9.08438028149e-05,1.06003222923,0.551947458185,0.00876258426931,1.05970036428
+360,6.000000000,pose2_to_pose3_retreat,0.580908187032,9.08268780451e-05,1.06003211949,0.551478638381,0.00876256579349,1.05970025459
+361,6.016666667,pose2_to_pose3_retreat,0.580461186467,9.07651808481e-05,1.06003225458,0.551031638187,0.00876250526789,1.05970038739
+362,6.033333333,pose2_to_pose3_retreat,0.580040094835,9.07691347445e-05,1.06003243107,0.550610545989,0.00876250709126,1.05970055783
+363,6.050000000,pose2_to_pose3_retreat,0.57964553242,9.07811248334e-05,1.06003249105,0.550215983562,0.00876251900185,1.05970061631
+364,6.066666667,pose2_to_pose3_retreat,0.579278311653,9.07591710172e-05,1.06003237812,0.549848763486,0.00876249971838,1.05970051196
+365,6.083333333,pose2_to_pose3_retreat,0.578936144589,9.07822938008e-05,1.06003220894,0.549506595667,0.00876252055331,1.05970035038
+366,6.100000000,pose2_to_pose3_retreat,0.578614270054,9.08893951793e-05,1.06003238455,0.549184719681,0.00876262203291,1.05970050762
+367,6.116666667,pose2_to_pose3_retreat,0.578307207917,9.06889268473e-05,1.06003228014,0.548877660276,0.00876243077955,1.05970040169
+368,6.133333333,pose2_to_pose3_retreat,0.578014677499,9.08057216324e-05,1.06003217942,0.548585129087,0.00876254574961,1.05970032205
+369,6.150000000,pose2_to_pose3_retreat,0.577739031159,9.08267882423e-05,1.06003224275,0.548309481052,0.00876256054745,1.0597003716
+370,6.166666667,pose2_to_pose3_retreat,0.577481714517,9.07550223505e-05,1.06003224284,0.548052166971,0.00876249749847,1.0597003723
+371,6.183333333,pose2_to_pose3_retreat,0.577243405541,9.08074580909e-05,1.0600323073,0.54781385751,0.00876254833528,1.05970043799
+372,6.200000000,pose2_to_pose3_retreat,0.577026838591,9.07680285863e-05,1.06003221302,0.547597291115,0.00876251078066,1.05970034362
+373,6.216666667,pose2_to_pose3_retreat,0.576830343555,9.07671324539e-05,1.06003222757,0.547400795824,0.00876250909894,1.05970036024
+374,6.233333333,pose2_to_pose3_retreat,0.57665431611,9.08390093325e-05,1.06003233958,0.547224766591,0.00876257492445,1.05970047258
+375,6.250000000,pose2_to_pose3_retreat,0.576497633604,9.08169911764e-05,1.06003229559,0.54706808434,0.00876255377074,1.05970042863
+376,6.266666667,pose2_to_pose3_retreat,0.576360875858,9.0794358679e-05,1.06003227399,0.546931327284,0.00876253340328,1.05970040516
+377,6.283333333,pose2_to_pose3_retreat,0.576240629836,9.08721846357e-05,1.06003237986,0.546811080435,0.00876260817689,1.05970050471
+378,6.300000000,pose2_to_pose3_retreat,0.576135941927,9.08591185149e-05,1.06003235181,0.546706393698,0.00876259929494,1.05970048228
+379,6.316666667,pose2_to_pose3_retreat,0.576045659927,9.07128944949e-05,1.06003239598,0.546616112833,0.00876245640806,1.05970051389
+380,6.333333333,pose2_to_pose3_retreat,0.575967503048,9.07767821976e-05,1.06003202441,0.546537954764,0.00876251671534,1.05970015391
+381,6.350000000,pose2_to_pose3_retreat,0.575900942224,9.08546782033e-05,1.06003217541,0.546471391184,0.00876258554335,1.05970031224
+382,6.366666667,pose2_to_pose3_retreat,0.575844943511,9.08214750589e-05,1.06003219936,0.546415395166,0.00876256153221,1.05970033725
+383,6.383333333,pose2_to_pose3_retreat,0.575799635587,9.07588749837e-05,1.06003240597,0.546370087924,0.00876250097481,1.05970053676
+384,6.400000000,pose2_to_pose3_retreat,0.575763557606,9.08028486011e-05,1.06003247259,0.546334009504,0.00876254343754,1.05970060287
+385,6.416666667,pose2_to_pose3_retreat,0.575735929078,9.08568943215e-05,1.06003242474,0.546306380116,0.00876259442846,1.05970055147
+386,6.433333333,pose2_to_pose3_retreat,0.575715668427,9.08276577184e-05,1.06003236713,0.546286119783,0.00876256623217,1.05970049296
+387,6.450000000,pose2_to_pose3_retreat,0.575700428531,9.07240005372e-05,1.06003232356,0.546270882026,0.0087624701553,1.05970045783
+388,6.466666667,pose2_to_pose3_retreat,0.575689727614,9.07204346489e-05,1.0600322485,0.546260181987,0.00876246952416,1.05970038174
+389,6.483333333,pose2_to_pose3_retreat,0.575681816169,9.07520215485e-05,1.06003221837,0.546252269302,0.00876249694017,1.05970035249
+390,6.500000000,pose2_to_pose3_retreat,0.575676359917,9.0788694687e-05,1.06003222234,0.546246811421,0.00876252813891,1.05970035775
+391,6.516666667,pose2_to_pose3_retreat,0.575673107099,9.07974640798e-05,1.06003234925,0.546243558822,0.00876253764098,1.05970048433
+392,6.533333333,pose2_to_pose3_retreat,0.575671274129,9.08024056538e-05,1.06003242076,0.546241725975,0.00876254299542,1.05970055566
+393,6.550000000,pose2_to_pose3_retreat,0.575670249861,9.07889132077e-05,1.0600324445,0.546240701997,0.00876253047621,1.05970057919
+394,6.566666667,pose2_to_pose3_retreat,0.575669779147,9.07560610222e-05,1.06003242882,0.546240231777,0.00876249928883,1.05970056323
+395,6.583333333,pose2_to_pose3_retreat,0.57566974979,9.07540121031e-05,1.06003242784,0.54624020245,0.00876249734375,1.05970056224
+396,6.600000000,pose2_to_pose3_retreat,0.575669455703,9.07334871361e-05,1.06003241804,0.546239908672,0.0087624778589,1.05970055227
+397,6.616666667,pose2_to_pose3_retreat,0.575668945692,9.06978923358e-05,1.06003240105,0.546239399196,0.00876244406789,1.05970053497
+398,6.633333333,pose2_to_pose3_retreat,0.575668626593,9.06756216581e-05,1.06003239042,0.546239080431,0.00876242292579,1.05970052415
+399,6.650000000,pose2_to_pose3_retreat,0.575668263508,9.06502811833e-05,1.06003237832,0.546238717728,0.00876239886946,1.05970051184
+400,6.666666667,pose2_to_pose3_retreat,0.575667645122,9.06071226018e-05,1.06003235772,0.54623809999,0.00876235789798,1.05970049087
+401,6.683333333,pose2_to_pose3_retreat,0.575667455817,9.05939106079e-05,1.06003235141,0.546237910884,0.00876234535551,1.05970048445
+402,6.700000000,pose2_to_pose3_retreat,0.575667151094,9.05726433071e-05,1.06003234126,0.54623760648,0.00876232516594,1.05970047412
+403,6.716666667,pose2_to_pose3_retreat,0.575666898152,9.05549898634e-05,1.06003233283,0.546237353803,0.0087623084071,1.05970046554
+404,6.733333333,pose2_to_pose3_retreat,0.575666635905,9.05903365487e-05,1.06003231898,0.546237090763,0.00876234103869,1.05970045106
+405,6.750000000,pose2_to_pose3_retreat,0.575666195485,9.06516644685e-05,1.06003229552,0.546236648972,0.00876239767335,1.05970042654
+406,6.766666667,pose2_to_pose3_retreat,0.575665906634,9.06918865683e-05,1.06003228014,0.546236359222,0.00876243481735,1.05970041046
+407,6.783333333,pose2_to_pose3_retreat,0.575665890548,9.06941265528e-05,1.06003227929,0.546236343086,0.00876243688592,1.05970040957
+408,6.800000000,pose2_to_pose3_retreat,0.575665812578,9.07049837251e-05,1.06003227513,0.546236264873,0.00876244691222,1.05970040522
+409,6.816666667,pose2_to_pose3_retreat,0.575665625288,9.07310636177e-05,1.06003226516,0.546236077,0.00876247099629,1.0597003948
+410,6.833333333,pose2_to_pose3_retreat,0.575665325294,9.07728373818e-05,1.06003224919,0.546235776073,0.00876250957322,1.05970037809
+411,6.850000000,pose2_to_pose3_retreat,0.575665089262,9.08022439176e-05,1.06003229642,0.546235539874,0.00876253838158,1.05970042439
+412,6.866666667,pose2_to_pose3_retreat,0.575665058001,9.08058366897e-05,1.06003230789,0.546235508641,0.00876254206236,1.0597004357
+413,6.883333333,pose2_to_pose3_retreat,0.575664949005,9.08183635704e-05,1.06003234788,0.546235399742,0.00876255489608,1.05970047516
+414,6.900000000,pose2_to_pose3_retreat,0.575664745207,9.08417860936e-05,1.06003242267,0.546235196124,0.00876257889234,1.05970054893
+415,6.916666667,pose2_to_pose3_retreat,0.575664509466,9.08736521792e-05,1.06003247191,0.546234960239,0.00876261029583,1.05970059884
+416,6.933333333,pose2_to_pose3_retreat,0.575664320172,9.09204291047e-05,1.06003234599,0.546234769264,0.00876265170072,1.05970048162
+417,6.950000000,pose2_to_pose3_retreat,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065999,1.05970045625
+418,6.966666667,pose2_to_pose3_retreat,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266066001,1.05970045625
+419,6.983333333,pose2_to_pose3_retreat,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625

Part2/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_05/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c10a97d59a18c8126878ad0df0ff92e4c9278d10784ae413b19ea09a16648d12
+size 26834810

Part2/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_05/simulation_data.csv

@@ -0,0 +1,423 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+1,0.016666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+2,0.033333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+3,0.050000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+4,0.066666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+5,0.083333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+6,0.100000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+7,0.116666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+8,0.133333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+9,0.150000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+10,0.166666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+11,0.183333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+12,0.200000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+13,0.216666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+14,0.233333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+15,0.250000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+16,0.266666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+17,0.283333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+18,0.300000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+19,0.316666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+20,0.333333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+21,0.350000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+22,0.366666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+23,0.383333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+24,0.400000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+25,0.416666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+26,0.433333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+27,0.450000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+28,0.466666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+29,0.483333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+30,0.500000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+31,0.516666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+32,0.533333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+33,0.550000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+34,0.566666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+35,0.583333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+36,0.600000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+37,0.616666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+38,0.633333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+39,0.650000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+40,0.666666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+41,0.683333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+42,0.700000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+43,0.716666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+44,0.733333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+45,0.750000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+46,0.766666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+47,0.783333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+48,0.800000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+49,0.816666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+50,0.833333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+51,0.850000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+52,0.866666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+53,0.883333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+54,0.900000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+55,0.916666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+56,0.933333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+57,0.950000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+58,0.966666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+59,0.983333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+60,1.000000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+61,1.016666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+62,1.033333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+63,1.050000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+64,1.066666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+65,1.083333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+66,1.100000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+67,1.116666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+68,1.133333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+69,1.150000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+70,1.166666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+71,1.183333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+72,1.200000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+73,1.216666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+74,1.233333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+75,1.250000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+76,1.266666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+77,1.283333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+78,1.300000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+79,1.316666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+80,1.333333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+81,1.350000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+82,1.366666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+83,1.383333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+84,1.400000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+85,1.416666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+86,1.433333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+87,1.450000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+88,1.466666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+89,1.483333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+90,1.500000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+91,1.516666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+92,1.533333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+93,1.550000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+94,1.566666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+95,1.583333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+96,1.600000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+97,1.616666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+98,1.633333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+99,1.650000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+100,1.666666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+101,1.683333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+102,1.700000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+103,1.716666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+104,1.733333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+105,1.750000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+106,1.766666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+107,1.783333333,pose1_to_pose2_press,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+108,1.800000000,pose1_to_pose2_press,0.575664357077,9.08748848559e-05,1.06003236717,0.546234806663,0.00876260780018,1.05970050193
+109,1.816666667,pose1_to_pose2_press,0.575664392879,9.08492891235e-05,1.06003238943,0.54623484286,0.00876258349472,1.05970052293
+110,1.833333333,pose1_to_pose2_press,0.575664464209,9.07982948347e-05,1.06003243379,0.546234914975,0.00876253507103,1.05970056477
+111,1.850000000,pose1_to_pose2_press,0.575664513716,9.0762901206e-05,1.06003246458,0.546234965029,0.00876250146158,1.05970059381
+112,1.866666667,pose1_to_pose2_press,0.575664578095,9.07497640717e-05,1.06003248287,0.546235029529,0.00876248870067,1.05970061117
+113,1.883333333,pose1_to_pose2_press,0.575664627536,9.07628576735e-05,1.06003248157,0.546235078649,0.00876250071298,1.05970061013
+114,1.900000000,pose1_to_pose2_press,0.57566509293,9.08440041933e-05,1.06003247154,0.546235541954,0.00876257484407,1.05970060203
+115,1.916666667,pose1_to_pose2_press,0.57566693589,9.07013676759e-05,1.06003250701,0.546237388359,0.00876244389747,1.05970063741
+116,1.933333333,pose1_to_pose2_press,0.575673244244,9.07946422763e-05,1.06003238255,0.546243695889,0.00876253433795,1.05970051199
+117,1.950000000,pose1_to_pose2_press,0.57568604034,9.07654878683e-05,1.06003228369,0.546256491895,0.00876250509074,1.05970041854
+118,1.966666667,pose1_to_pose2_press,0.575709014007,9.09821432947e-05,1.06003239995,0.546279463631,0.00876271460229,1.0597005193
+119,1.983333333,pose1_to_pose2_press,0.575742163335,9.08066237004e-05,1.0600323411,0.546312615275,0.00876254760907,1.05970047777
+120,2.000000000,pose1_to_pose2_press,0.575785880134,9.0720045399e-05,1.06003240174,0.546356332537,0.00876246257639,1.05970053766
+121,2.016666667,pose1_to_pose2_press,0.575838604054,9.08251834663e-05,1.06003234395,0.546409056608,0.00876256809854,1.05970047642
+122,2.033333333,pose1_to_pose2_press,0.575900267314,9.0709850928e-05,1.06003227114,0.546470718169,0.00876244662669,1.0597003939
+123,2.050000000,pose1_to_pose2_press,0.575968432284,9.06628647485e-05,1.06003234148,0.546538886075,0.00876241001712,1.05970047496
+124,2.066666667,pose1_to_pose2_press,0.576043904654,9.06657161256e-05,1.06003212537,0.546614358375,0.00876241265949,1.05970025948
+125,2.083333333,pose1_to_pose2_press,0.576130595197,9.07989055405e-05,1.06003230885,0.546701046231,0.00876253667425,1.05970044142
+126,2.100000000,pose1_to_pose2_press,0.576228906581,9.08568872219e-05,1.06003234033,0.546799357453,0.00876259411565,1.05970047311
+127,2.116666667,pose1_to_pose2_press,0.576341399099,9.07706308259e-05,1.06003234152,0.54691185007,0.00876250818653,1.05970047403
+128,2.133333333,pose1_to_pose2_press,0.576469968518,9.07843051943e-05,1.06003225251,0.547040419587,0.00876252235449,1.05970038929
+129,2.150000000,pose1_to_pose2_press,0.576616189081,9.08033080345e-05,1.0600322212,0.547186639774,0.00876253998443,1.05970035531
+130,2.166666667,pose1_to_pose2_press,0.576779479058,9.07919858511e-05,1.06003216913,0.547349930553,0.00876253130327,1.05970030104
+131,2.183333333,pose1_to_pose2_press,0.576960114688,9.07682837898e-05,1.0600320819,0.547530566583,0.00876250914912,1.05970021883
+132,2.200000000,pose1_to_pose2_press,0.57716164949,9.07241320553e-05,1.06003212228,0.547732100717,0.00876246279347,1.05970026077
+133,2.216666667,pose1_to_pose2_press,0.577382668322,9.07579437369e-05,1.0600323247,0.54795311895,0.00876249423001,1.05970045413
+134,2.233333333,pose1_to_pose2_press,0.577624277313,9.07755338882e-05,1.06003246972,0.548194727277,0.00876250929397,1.05970059206
+135,2.250000000,pose1_to_pose2_press,0.577885351202,9.06746479016e-05,1.06003235277,0.548455802691,0.00876241390257,1.05970048328
+136,2.266666667,pose1_to_pose2_press,0.57816543291,9.07721658636e-05,1.06003229194,0.54873588342,0.00876250814676,1.05970042374
+137,2.283333333,pose1_to_pose2_press,0.578465675513,9.07579847728e-05,1.0600321553,0.549036125902,0.00876249352174,1.05970028615
+138,2.300000000,pose1_to_pose2_press,0.578785261533,9.07158727505e-05,1.06003237304,0.549355713094,0.00876245533111,1.05970050234
+139,2.316666667,pose1_to_pose2_press,0.579124914737,9.07719866084e-05,1.06003247851,0.549695366087,0.00876251067445,1.05970060635
+140,2.333333333,pose1_to_pose2_press,0.57948395929,9.08065294646e-05,1.06003234046,0.550054411038,0.00876254675889,1.05970047328
+141,2.350000000,pose1_to_pose2_press,0.579863633386,9.08019638152e-05,1.06003257419,0.550434085161,0.00876254218874,1.05970070437
+142,2.366666667,pose1_to_pose2_press,0.580259613244,9.07984740352e-05,1.06003240578,0.550830064048,0.00876253535744,1.05970053464
+143,2.383333333,pose1_to_pose2_press,0.580672582786,9.08354454369e-05,1.06003223405,0.551243032019,0.00876256732054,1.05970037134
+144,2.400000000,pose1_to_pose2_press,0.581111297938,9.07879480929e-05,1.0600323585,0.551681748938,0.00876252581047,1.05970049541
+145,2.416666667,pose1_to_pose2_press,0.581576566168,9.07828811339e-05,1.06003229928,0.552147018167,0.00876252423379,1.05970043881
+146,2.433333333,pose1_to_pose2_press,0.582073332058,9.08409450668e-05,1.0600320626,0.552643783232,0.00876257958182,1.05970020433
+147,2.450000000,pose1_to_pose2_press,0.582594205656,9.07116584767e-05,1.06003208469,0.553164657672,0.00876245291742,1.05970022015
+148,2.466666667,pose1_to_pose2_press,0.583135629198,9.06780369354e-05,1.0600323133,0.55370608191,0.00876242164385,1.05970044833
+149,2.483333333,pose1_to_pose2_press,0.583691414861,9.0851447784e-05,1.06003238892,0.554261866212,0.00876259059881,1.05970052814
+150,2.500000000,pose1_to_pose2_press,0.58426155244,9.07863526878e-05,1.06003229442,0.554832003824,0.00876252544234,1.05970042912
+151,2.516666667,pose1_to_pose2_press,0.584852791335,9.07921678721e-05,1.06003225596,0.555423243274,0.00876253329434,1.05970039462
+152,2.533333333,pose1_to_pose2_press,0.585469159725,9.07785457357e-05,1.06003243538,0.556039611745,0.008762519995,1.05970057527
+153,2.550000000,pose1_to_pose2_press,0.586113883593,9.07636136276e-05,1.06003245788,0.556684334603,0.0087625011328,1.05970058457
+154,2.566666667,pose1_to_pose2_press,0.586774339385,9.07516414772e-05,1.06003222448,0.557344789826,0.00876248744338,1.05970035675
+155,2.583333333,pose1_to_pose2_press,0.587445024809,9.08339115205e-05,1.0600321624,0.558015475338,0.00876257051724,1.0597003078
+156,2.600000000,pose1_to_pose2_press,0.588115182637,9.06564688211e-05,1.06003225208,0.558685635709,0.0087624009514,1.05970037773
+157,2.616666667,pose1_to_pose2_press,0.588788949295,9.07435857834e-05,1.06003233326,0.559359402905,0.00876249012913,1.05970046509
+158,2.633333333,pose1_to_pose2_press,0.58948146655,9.06721359971e-05,1.06003216528,0.560051920276,0.00876241915125,1.05970029912
+159,2.650000000,pose1_to_pose2_press,0.590194731096,9.07293984129e-05,1.0600322724,0.560765183165,0.00876247061382,1.05970040162
+160,2.666666667,pose1_to_pose2_press,0.590927874971,9.07694083467e-05,1.06003234288,0.561498326482,0.00876250879752,1.05970047389
+161,2.683333333,pose1_to_pose2_press,0.591688635935,9.07012967934e-05,1.06003227319,0.562259087663,0.00876244155164,1.05970040753
+162,2.700000000,pose1_to_pose2_press,0.592472334463,9.06565540835e-05,1.06003229588,0.563042785991,0.00876239596992,1.05970042605
+163,2.716666667,pose1_to_pose2_press,0.593253663584,9.07105492315e-05,1.06003231075,0.563824114748,0.0087624485953,1.05970043741
+164,2.733333333,pose1_to_pose2_press,0.594033786,9.07816931924e-05,1.06003230489,0.564604237544,0.00876252096454,1.05970042996
+165,2.750000000,pose1_to_pose2_press,0.59481207624,9.07991345279e-05,1.06003236835,0.565382528783,0.00876254186385,1.05970049517
+166,2.766666667,pose1_to_pose2_press,0.59558209967,9.07674552811e-05,1.06003234181,0.566152552017,0.00876251000405,1.05970048127
+167,2.783333333,pose1_to_pose2_press,0.596344638411,9.07621070373e-05,1.06003240714,0.566915089035,0.00876249885738,1.05970054798
+168,2.800000000,pose1_to_pose2_press,0.597123553285,9.09501300114e-05,1.06003236315,0.567694003032,0.00876268345855,1.05970049233
+169,2.816666667,pose1_to_pose2_press,0.597920642873,9.0846281712e-05,1.0600323623,0.568491094222,0.00876258506115,1.05970049185
+170,2.833333333,pose1_to_pose2_press,0.598734556701,9.07450572308e-05,1.06003232891,0.56930500919,0.00876248801516,1.0597004666
+171,2.850000000,pose1_to_pose2_press,0.599563804011,9.0749248162e-05,1.06003223688,0.570134254213,0.00876248416988,1.05970036746
+172,2.866666667,pose1_to_pose2_press,0.600409080877,9.07394088135e-05,1.06003209265,0.570979531445,0.00876247583864,1.05970023027
+173,2.883333333,pose1_to_pose2_press,0.601237777078,9.08012739009e-05,1.06003238427,0.571808228332,0.00876254007822,1.05970052308
+174,2.900000000,pose1_to_pose2_press,0.602044568163,9.07001695782e-05,1.06003243797,0.572615021199,0.00876244494825,1.05970057499
+175,2.916666667,pose1_to_pose2_press,0.602820176174,9.08750131519e-05,1.06003223323,0.573390625961,0.00876260908818,1.05970037881
+176,2.933333333,pose1_to_pose2_press,0.603573531932,9.08286959537e-05,1.06003234296,0.574143982731,0.00876256598171,1.05970048265
+177,2.950000000,pose1_to_pose2_press,0.604323702234,9.07238909152e-05,1.06003244532,0.57489415427,0.0087624652437,1.05970058165
+178,2.966666667,pose1_to_pose2_press,0.605084516354,9.07853802355e-05,1.06003232714,0.575654967676,0.00876252436421,1.059700465
+179,2.983333333,pose1_to_pose2_press,0.60585943558,9.0883483532e-05,1.06003214469,0.576429887086,0.00876262312821,1.05970028351
+180,3.000000000,pose1_to_pose2_press,0.606647218093,9.07505204666e-05,1.0600321806,0.577217671792,0.00876249749916,1.05970031671
+181,3.016666667,pose1_to_pose2_press,0.607432039993,9.06719822665e-05,1.06003219632,0.578002493154,0.0087624169905,1.05970032879
+182,3.033333333,pose1_to_pose2_press,0.608180496983,9.08542665822e-05,1.06003213644,0.578750947232,0.00876258958563,1.05970027401
+183,3.050000000,pose1_to_pose2_press,0.608891251442,9.08527103769e-05,1.06003242712,0.579461702977,0.00876259230278,1.05970056242
+184,3.066666667,pose1_to_pose2_press,0.609560646079,9.07985346277e-05,1.06003234125,0.580131098785,0.00876254205972,1.05970047556
+185,3.083333333,pose1_to_pose2_press,0.610202432004,9.08537068255e-05,1.0600323396,0.580772883427,0.00876259278582,1.05970047157
+186,3.100000000,pose1_to_pose2_press,0.610819844619,9.07912061724e-05,1.06003233691,0.581390295053,0.00876252695319,1.05970046963
+187,3.116666667,pose1_to_pose2_press,0.611433376201,9.0746974783e-05,1.06003238221,0.582003826895,0.0087624832444,1.05970050564
+188,3.133333333,pose1_to_pose2_press,0.612045086088,9.08213225864e-05,1.06003224919,0.582615537838,0.00876256158559,1.05970038337
+189,3.150000000,pose1_to_pose2_press,0.612652872472,9.07582829829e-05,1.06003236728,0.583223323588,0.00876249644639,1.0597005029
+190,3.166666667,pose1_to_pose2_press,0.61324908349,9.08291379326e-05,1.06003238597,0.583819534289,0.00876256625538,1.05970052027
+191,3.183333333,pose1_to_pose2_press,0.613827481142,9.08480516161e-05,1.06003234362,0.584397932391,0.0087625868142,1.05970047704
+192,3.200000000,pose1_to_pose2_press,0.61437576549,9.08131896913e-05,1.06003228279,0.584946216219,0.0087625504045,1.05970041609
+193,3.216666667,pose1_to_pose2_press,0.614895145255,9.07627589602e-05,1.06003226478,0.58546559545,0.00876249843976,1.05970039805
+194,3.233333333,pose1_to_pose2_press,0.615388285719,9.06961306489e-05,1.06003230668,0.585958736467,0.00876243394296,1.05970043938
+195,3.250000000,pose1_to_pose2_press,0.615862389439,9.07717469311e-05,1.06003226819,0.5864328403,0.00876251017386,1.05970040029
+196,3.266666667,pose1_to_pose2_press,0.616320802843,9.07366228288e-05,1.06003249263,0.58689125431,0.0087624771403,1.05970061508
+197,3.283333333,pose1_to_pose2_press,0.616760959551,9.08813187682e-05,1.06003223588,0.58733141011,0.00876261944103,1.05970036855
+198,3.300000000,pose1_to_pose2_press,0.617181504159,9.07513501966e-05,1.06003243316,0.58775195499,0.00876249074317,1.0597005664
+199,3.316666667,pose1_to_pose2_press,0.61757902301,9.08150169212e-05,1.06003258478,0.588149473391,0.00876255284357,1.05970071
+200,3.333333333,pose1_to_pose2_press,0.617953841849,9.07913542406e-05,1.06003232885,0.588524292142,0.00876252938759,1.05970045955
+201,3.350000000,pose1_to_pose2_press,0.618306474167,9.07674259836e-05,1.06003230006,0.588876924543,0.00876250598645,1.05970043219
+202,3.366666667,pose1_to_pose2_press,0.618641168947,9.08189112347e-05,1.06003243919,0.589211619194,0.00876255705228,1.05970056447
+203,3.383333333,pose1_to_pose2_press,0.618959207178,9.08807805695e-05,1.0600325471,0.58952965697,0.0087626176814,1.05970067205
+204,3.400000000,pose1_to_pose2_press,0.619263784649,9.08705566066e-05,1.06003245195,0.589834234512,0.00876260829471,1.0597005859
+205,3.416666667,pose1_to_pose2_press,0.619554355223,9.07890414423e-05,1.06003222572,0.590124805844,0.00876252962552,1.05970035979
+206,3.433333333,pose1_to_pose2_press,0.619826601689,9.0737453667e-05,1.06003217373,0.590397051417,0.00876247510802,1.05970030374
+207,3.450000000,pose1_to_pose2_press,0.620079005518,9.07854106984e-05,1.06003202209,0.590649454584,0.00876252125236,1.05970015937
+208,3.466666667,pose1_to_pose2_press,0.62030658076,9.06566979532e-05,1.06003223581,0.590877032702,0.00876240245853,1.05970037079
+209,3.483333333,pose1_to_pose2_press,0.620510281974,9.07974808602e-05,1.06003234002,0.591080731644,0.00876253575004,1.05970047593
+210,3.500000000,pose1_to_pose2_press,0.620688772245,9.07711596995e-05,1.06003247468,0.591259222619,0.00876251164899,1.05970060313
+211,3.516666667,pose1_to_pose2_press,0.620846855125,9.07685822953e-05,1.06003224792,0.591417306827,0.00876251394083,1.0597003825
+212,3.533333333,pose1_to_pose2_press,0.620986687617,9.06472675154e-05,1.06003231554,0.591557139808,0.00876239442745,1.05970044892
+213,3.550000000,pose1_to_pose2_press,0.621111931311,9.07132787661e-05,1.06003234763,0.591682382076,0.00876245559328,1.05970047944
+214,3.566666667,pose1_to_pose2_press,0.621226155007,9.08006791777e-05,1.06003223674,0.591796603987,0.00876253693885,1.05970036722
+215,3.583333333,pose1_to_pose2_press,0.621331003128,9.08236405319e-05,1.0600321612,0.591901451698,0.00876255857977,1.05970029117
+216,3.600000000,pose1_to_pose2_press,0.621425283357,9.07779485228e-05,1.06003223302,0.591995733518,0.00876251841135,1.05970036582
+217,3.616666667,pose1_to_pose2_press,0.62150821364,9.06701774351e-05,1.06003224047,0.592078665952,0.00876241797746,1.05970037926
+218,3.633333333,pose1_to_pose2_press,0.621579286341,9.06591966507e-05,1.06003244033,0.592149739478,0.00876240929607,1.05970057492
+219,3.650000000,pose1_to_pose2_press,0.621639459719,9.07248806928e-05,1.06003210686,0.592209909715,0.00876246539554,1.05970024217
+220,3.666666667,pose1_to_pose2_press,0.621689267887,9.08603758349e-05,1.06003225834,0.592259716486,0.00876259611627,1.05970040044
+221,3.683333333,pose1_to_pose2_press,0.62173121805,9.08056983809e-05,1.06003233533,0.59230166795,0.00876254582367,1.0597004706
+222,3.700000000,pose1_to_pose2_press,0.621765714489,9.07810778893e-05,1.06003221088,0.592336164383,0.00876252127356,1.05970034367
+223,3.716666667,pose1_to_pose2_press,0.621794275967,9.08069687702e-05,1.06003230749,0.592364725481,0.00876254577657,1.05970044092
+224,3.733333333,pose1_to_pose2_press,0.62181689112,9.08153374579e-05,1.06003247602,0.592387340789,0.00876255453624,1.05970060802
+225,3.750000000,pose1_to_pose2_press,0.621833499479,9.0779098178e-05,1.06003225265,0.592403949037,0.0087625181322,1.05970038233
+226,3.766666667,pose1_to_pose2_press,0.621845258903,9.07290787297e-05,1.06003232922,0.592415708519,0.0087624684012,1.05970046125
+227,3.783333333,pose1_to_pose2_press,0.621853423808,9.07593062622e-05,1.06003227541,0.592423874391,0.0087625020053,1.05970041099
+228,3.800000000,pose1_to_pose2_press,0.621859432673,9.08066520035e-05,1.06003220396,0.592429884141,0.0087625524202,1.05970034259
+229,3.816666667,pose1_to_pose2_press,0.621863539157,9.08577470415e-05,1.06003227425,0.592433988568,0.00876259635078,1.05970041069
+230,3.833333333,pose1_to_pose2_press,0.6218664185,9.08935733501e-05,1.06003232354,0.592436866469,0.00876262715358,1.05970045844
+231,3.850000000,pose1_to_pose2_press,0.621868092998,9.08994748575e-05,1.06003237275,0.592438540602,0.00876263178999,1.05970050603
+232,3.866666667,pose1_to_pose2_press,0.621869065929,9.09013727764e-05,1.06003240345,0.59243951337,0.00876263312266,1.05970053571
+233,3.883333333,pose1_to_pose2_press,0.621869619213,9.09024520796e-05,1.06003242091,0.59244006656,0.00876263388052,1.05970055259
+234,3.900000000,pose1_to_pose2_press,0.621869901253,9.09030022624e-05,1.0600324298,0.592440348553,0.00876263426684,1.05970056119
+235,3.916666667,pose1_to_pose2_press,0.62187024032,9.09036636886e-05,1.0600324405,0.592440687563,0.00876263473128,1.05970057153
+236,3.933333333,pose1_to_pose2_press,0.621870554721,9.09042769967e-05,1.06003245042,0.592441001911,0.00876263516193,1.05970058113
+237,3.950000000,pose1_to_pose2_press,0.621870773314,9.09047034106e-05,1.06003245732,0.592441220467,0.00876263546135,1.05970058779
+238,3.966666667,pose1_to_pose2_press,0.621870933055,9.0905015022e-05,1.06003246236,0.592441380182,0.00876263568015,1.05970059267
+239,3.983333333,pose1_to_pose2_press,0.621871135075,9.09054091066e-05,1.06003246873,0.592441582168,0.00876263595687,1.05970059883
+240,4.000000000,pose1_to_pose2_press,0.621871520758,9.08927088467e-05,1.06003245974,0.592441968033,0.00876262386988,1.05970058952
+241,4.016666667,pose1_to_pose2_press,0.62187208943,9.0848918226e-05,1.06003240705,0.592442537434,0.00876258254363,1.05970053651
+242,4.033333333,pose1_to_pose2_press,0.621872384077,9.08262289182e-05,1.06003237975,0.59244283246,0.00876256113119,1.05970050905
+243,4.050000000,pose1_to_pose2_press,0.621872404659,9.08246440467e-05,1.06003237784,0.592442853067,0.00876255963551,1.05970050713
+244,4.066666667,pose1_to_pose2_press,0.621872423246,9.08232127094e-05,1.06003237612,0.592442871679,0.00876255828472,1.0597005054
+245,4.083333333,pose1_to_pose2_press,0.621872466127,9.08199107177e-05,1.06003237214,0.592442914614,0.00876255516855,1.0597005014
+246,4.100000000,pose1_to_pose2_press,0.621872609012,9.08089078173e-05,1.0600323589,0.592443057683,0.00876254478485,1.05970048808
+247,4.116666667,pose1_to_pose2_press,0.621872898859,9.07865881676e-05,1.06003233205,0.592443347901,0.00876252372127,1.05970046107
+248,4.133333333,pose1_to_pose2_press,0.621873225818,9.07614106896e-05,1.06003230175,0.59244367528,0.00876249996068,1.05970043059
+249,4.150000000,pose1_to_pose2_press,0.621873495698,9.07406286274e-05,1.06003227675,0.592443945505,0.00876248034816,1.05970040544
+250,4.166666667,pose1_to_pose2_press,0.621873711756,9.07239910777e-05,1.06003225673,0.59244416184,0.0087624646469,1.0597003853
+251,4.183333333,pose1_to_pose2_press,0.621873819762,9.07156740535e-05,1.06003224672,0.592444269985,0.00876245679793,1.05970037523
+252,4.200000000,pose1_to_pose2_press,0.621874059383,9.07162312335e-05,1.06003223865,0.592444509874,0.00876245826976,1.05970036746
+253,4.216666667,pose1_to_pose2_press,0.621874529087,9.07393747869e-05,1.06003223922,0.592444980056,0.00876248306266,1.05970036912
+254,4.233333333,pose1_to_pose2_press,0.621874653421,9.07455010874e-05,1.06003223938,0.592445104517,0.00876248962555,1.05970036956
+255,4.250000000,pose1_to_pose2_press,0.621874931631,9.0759209204e-05,1.06003223972,0.59244538301,0.00876250431058,1.05970037054
+256,4.266666667,pose1_to_pose2_press,0.621875188264,9.07721561018e-05,1.06003220824,0.592445639789,0.00876251783096,1.05970034151
+257,4.283333333,pose1_to_pose2_press,0.621875492116,9.07881606878e-05,1.06003209983,0.592445943551,0.00876253378125,1.05970024013
+258,4.300000000,pose1_to_pose2_press,0.621875697168,9.08145033007e-05,1.0600322492,0.59244614761,0.00876255615422,1.05970037568
+259,4.316666667,pose2_hold,0.621875697168,9.08145033007e-05,1.0600322492,0.592446147614,0.00876255615305,1.05970037568
+260,4.333333333,pose2_hold,0.621875697168,9.08145033007e-05,1.0600322492,0.592446147614,0.00876255615303,1.05970037568
+261,4.350000000,pose2_hold,0.621875697168,9.08145033007e-05,1.0600322492,0.592446147614,0.00876255615301,1.05970037568
+262,4.366666667,pose2_hold,0.621875697168,9.08145033007e-05,1.0600322492,0.592446147614,0.008762556153,1.05970037568
+263,4.383333333,pose2_hold,0.621875697168,9.08145033007e-05,1.0600322492,0.592446147614,0.00876255615298,1.05970037568
+264,4.400000000,pose2_hold,0.621875697168,9.08145033007e-05,1.0600322492,0.592446147615,0.00876255615297,1.05970037568
+265,4.416666667,pose2_hold,0.621875697168,9.08145033007e-05,1.0600322492,0.592446147615,0.00876255615295,1.05970037568
+266,4.433333333,pose2_hold,0.621875697168,9.08145033007e-05,1.0600322492,0.592446147615,0.0087625561529,1.05970037568
+267,4.450000000,pose2_hold,0.621875697168,9.08145033007e-05,1.0600322492,0.592446147615,0.00876255615289,1.05970037568
+268,4.466666667,pose2_hold,0.621875697168,9.08145033007e-05,1.0600322492,0.592446147615,0.00876255615288,1.05970037568
+269,4.483333333,pose2_hold,0.621875697168,9.08145033007e-05,1.0600322492,0.592446147615,0.00876255615288,1.05970037568
+270,4.500000000,pose2_hold,0.621875697168,9.08145033007e-05,1.0600322492,0.592446147616,0.00876255615288,1.05970037568
+271,4.516666667,pose2_hold,0.621875697168,9.08145033007e-05,1.0600322492,0.592446147616,0.00876255615287,1.05970037568
+272,4.533333333,pose2_hold,0.621875697168,9.08145033007e-05,1.0600322492,0.592446147616,0.00876255615284,1.05970037568
+273,4.550000000,pose2_hold,0.621875697168,9.08145033007e-05,1.0600322492,0.592446147616,0.00876255615287,1.05970037568
+274,4.566666667,pose2_hold,0.621875697168,9.08145033007e-05,1.0600322492,0.592446147616,0.00876255615288,1.05970037568
+275,4.583333333,pose2_to_pose3_retreat,0.621875697168,9.08145033007e-05,1.0600322492,0.592446147617,0.0087625561529,1.05970037568
+276,4.600000000,pose2_to_pose3_retreat,0.621875576317,9.0870176398e-05,1.06003206528,0.592446026887,0.00876261290441,1.05970020834
+277,4.616666667,pose2_to_pose3_retreat,0.621875525774,9.08327783548e-05,1.06003210751,0.592445976474,0.0087625757954,1.05970024656
+278,4.633333333,pose2_to_pose3_retreat,0.621875441151,9.07701638732e-05,1.0600321782,0.592445892069,0.00876251366484,1.05970031057
+279,4.650000000,pose2_to_pose3_retreat,0.621875389339,9.07318270075e-05,1.06003222148,0.592445840391,0.00876247562426,1.05970034976
+280,4.666666667,pose2_to_pose3_retreat,0.621875384538,9.0728274806e-05,1.0600322255,0.592445835603,0.00876247209951,1.05970035339
+281,4.683333333,pose2_to_pose3_retreat,0.621875344778,9.06988552168e-05,1.06003225871,0.592445795945,0.00876244290729,1.05970038346
+282,4.700000000,pose2_to_pose3_retreat,0.621874486019,9.07188648155e-05,1.06003224418,0.592444936811,0.00876246175975,1.05970037164
+283,4.716666667,pose2_to_pose3_retreat,0.621871851578,9.07532760031e-05,1.06003261763,0.592442301813,0.00876249404793,1.05970073964
+284,4.733333333,pose2_to_pose3_retreat,0.621864550575,9.07585239635e-05,1.06003211251,0.592435001325,0.00876250151739,1.05970025053
+285,4.750000000,pose2_to_pose3_retreat,0.621851383849,9.07453685568e-05,1.06003244928,0.592421834506,0.00876248784912,1.05970058415
+286,4.766666667,pose2_to_pose3_retreat,0.621827960478,9.08354853141e-05,1.06003235018,0.592398410167,0.00876257462769,1.05970048126
+287,4.783333333,pose2_to_pose3_retreat,0.621793559306,9.08365841287e-05,1.0600323179,0.592364009111,0.0087625756917,1.05970044638
+288,4.800000000,pose2_to_pose3_retreat,0.62174800697,9.08650145153e-05,1.06003236891,0.592318456158,0.00876260270032,1.05970050423
+289,4.816666667,pose2_to_pose3_retreat,0.621692752383,9.07766499223e-05,1.06003223726,0.592263202747,0.00876251814161,1.05970037863
+290,4.833333333,pose2_to_pose3_retreat,0.62162822833,9.07016409804e-05,1.06003233119,0.592198679568,0.00876244541468,1.05970046461
+291,4.850000000,pose2_to_pose3_retreat,0.621556080109,9.07281390402e-05,1.06003242288,0.592126532482,0.0087624763723,1.05970056045
+292,4.866666667,pose2_to_pose3_retreat,0.621475930875,9.07016845354e-05,1.06003235231,0.592046382478,0.00876244736378,1.05970049105
+293,4.883333333,pose2_to_pose3_retreat,0.621384378634,9.07409877277e-05,1.06003227649,0.591954828037,0.00876247878185,1.05970040669
+294,4.900000000,pose2_to_pose3_retreat,0.621281111414,9.08157512752e-05,1.06003223938,0.591851559849,0.00876255013382,1.05970036758
+295,4.916666667,pose2_to_pose3_retreat,0.621163798071,9.08177815338e-05,1.06003237728,0.591734248015,0.00876255724299,1.05970050617
+296,4.933333333,pose2_to_pose3_retreat,0.621031763921,9.07553296278e-05,1.06003255901,0.591602215756,0.00876250089668,1.05970068294
+297,4.950000000,pose2_to_pose3_retreat,0.620883969607,9.07719147328e-05,1.06003235971,0.591454420542,0.00876251432508,1.05970048391
+298,4.966666667,pose2_to_pose3_retreat,0.620719692659,9.0801565507e-05,1.06003220899,0.591290143201,0.00876254297234,1.05970034331
+299,4.983333333,pose2_to_pose3_retreat,0.62053841386,9.08290654027e-05,1.06003221813,0.591108862323,0.00876256300905,1.05970035082
+300,5.000000000,pose2_to_pose3_retreat,0.620337905769,9.09026153553e-05,1.06003209482,0.590908354797,0.00876263859312,1.05970023507
+301,5.016666667,pose2_to_pose3_retreat,0.620117997494,9.09008128282e-05,1.06003224103,0.590688445628,0.00876263362213,1.0597003785
+302,5.033333333,pose2_to_pose3_retreat,0.61987677872,9.08749046955e-05,1.06003241437,0.590447227511,0.00876260946673,1.05970054586
+303,5.050000000,pose2_to_pose3_retreat,0.619611892374,9.0807012641e-05,1.06003243515,0.590182342253,0.00876254469801,1.05970056034
+304,5.066666667,pose2_to_pose3_retreat,0.619321552188,9.07748577001e-05,1.06003226223,0.58989200215,0.00876251269424,1.05970039089
+305,5.083333333,pose2_to_pose3_retreat,0.61900652792,9.08337573095e-05,1.06003216645,0.589576977848,0.00876257154404,1.05970030347
+306,5.100000000,pose2_to_pose3_retreat,0.618668262629,9.08602708117e-05,1.06003231458,0.5892387133,0.00876260012117,1.05970044694
+307,5.116666667,pose2_to_pose3_retreat,0.618305544321,9.0814804723e-05,1.06003228035,0.588875995743,0.00876255687113,1.05970041146
+308,5.133333333,pose2_to_pose3_retreat,0.617926591112,9.07526088757e-05,1.06003249162,0.588497041703,0.00876249128893,1.05970061534
+309,5.150000000,pose2_to_pose3_retreat,0.617535484826,9.08026835272e-05,1.06003236361,0.588105935241,0.00876254060486,1.05970049091
+310,5.166666667,pose2_to_pose3_retreat,0.617127215867,9.07514099538e-05,1.06003225311,0.587697669201,0.00876249905693,1.05970038472
+311,5.183333333,pose2_to_pose3_retreat,0.616700128574,9.07241920094e-05,1.0600322943,0.587270580205,0.00876246599379,1.0597004313
+312,5.200000000,pose2_to_pose3_retreat,0.616249206867,9.06976527515e-05,1.06003209645,0.586819658756,0.0087624400553,1.05970023392
+313,5.216666667,pose2_to_pose3_retreat,0.615772098278,9.08010746853e-05,1.06003209489,0.586342549671,0.00876254138491,1.05970023021
+314,5.233333333,pose2_to_pose3_retreat,0.615264826504,9.08910433819e-05,1.06003216465,0.585835276985,0.00876262796122,1.05970030074
+315,5.250000000,pose2_to_pose3_retreat,0.614735808354,9.08478676677e-05,1.06003208173,0.585306259344,0.00876258625791,1.05970021934
+316,5.266666667,pose2_to_pose3_retreat,0.614188057312,9.08246478867e-05,1.06003218552,0.584758508595,0.0087625634966,1.059700317
+317,5.283333333,pose2_to_pose3_retreat,0.613627994841,9.080197492e-05,1.06003250915,0.584198445532,0.00876253822606,1.05970063177
+318,5.300000000,pose2_to_pose3_retreat,0.613054734906,9.07627855121e-05,1.06003247914,0.58362518707,0.00876250416987,1.05970060796
+319,5.316666667,pose2_to_pose3_retreat,0.612461810964,9.07350823441e-05,1.06003237982,0.583032262708,0.00876247500277,1.05970050782
+320,5.333333333,pose2_to_pose3_retreat,0.61184427255,9.08260115643e-05,1.06003243006,0.582414723403,0.00876256312181,1.05970056345
+321,5.350000000,pose2_to_pose3_retreat,0.611195293154,9.08825416567e-05,1.06003229623,0.581765744502,0.00876262142196,1.05970043205
+322,5.366666667,pose2_to_pose3_retreat,0.610523644885,9.08380378491e-05,1.06003213172,0.581094096365,0.00876257745932,1.05970027017
+323,5.383333333,pose2_to_pose3_retreat,0.609834056949,9.07209058069e-05,1.06003214498,0.580404509441,0.00876246364588,1.05970028039
+324,5.400000000,pose2_to_pose3_retreat,0.609128525321,9.06554603094e-05,1.06003236377,0.579698978748,0.00876240115681,1.05970049377
+325,5.416666667,pose2_to_pose3_retreat,0.608411294527,9.06803850236e-05,1.06003246953,0.578981746939,0.00876242264293,1.05970060002
+326,5.433333333,pose2_to_pose3_retreat,0.607685069654,9.06807799686e-05,1.0600321591,0.57825552232,0.00876242385201,1.05970028821
+327,5.450000000,pose2_to_pose3_retreat,0.606944544364,9.08027095455e-05,1.06003232079,0.577514996118,0.00876254302502,1.05970045643
+328,5.466666667,pose2_to_pose3_retreat,0.606187795695,9.08031298904e-05,1.06003223511,0.576758245634,0.00876253706888,1.05970036546
+329,5.483333333,pose2_to_pose3_retreat,0.605409466266,9.05712975042e-05,1.06003221805,0.575979920161,0.00876231871845,1.05970035069
+330,5.500000000,pose2_to_pose3_retreat,0.604608518306,9.07408710661e-05,1.06003241733,0.575178970825,0.00876248357939,1.05970055055
+331,5.516666667,pose2_to_pose3_retreat,0.603783747726,9.07736716581e-05,1.06003246255,0.574354200553,0.00876251731009,1.05970059289
+332,5.533333333,pose2_to_pose3_retreat,0.602945569363,9.08560192238e-05,1.06003225908,0.573516021458,0.00876259762682,1.05970039882
+333,5.550000000,pose2_to_pose3_retreat,0.602109240927,9.09334232463e-05,1.06003235675,0.572679692375,0.00876267278582,1.05970049523
+334,5.566666667,pose2_to_pose3_retreat,0.60128732915,9.08246864751e-05,1.06003233171,0.571857781343,0.00876256631332,1.05970046373
+335,5.583333333,pose2_to_pose3_retreat,0.600482563936,9.0729407758e-05,1.06003222532,0.571053016418,0.00876247198003,1.05970035646
+336,5.600000000,pose2_to_pose3_retreat,0.599686020218,9.07839794267e-05,1.060032275,0.570256471657,0.00876252297398,1.05970040443
+337,5.616666667,pose2_to_pose3_retreat,0.598885734915,9.08659563431e-05,1.06003234919,0.569456185263,0.00876260110144,1.05970047465
+338,5.633333333,pose2_to_pose3_retreat,0.598061604274,9.08414167016e-05,1.06003220826,0.568632054706,0.00876257714588,1.05970034425
+339,5.650000000,pose2_to_pose3_retreat,0.597214323196,9.08677524913e-05,1.06003222746,0.5677847737,0.0087626036851,1.05970036033
+340,5.666666667,pose2_to_pose3_retreat,0.596343698778,9.07464560201e-05,1.06003219819,0.566914151398,0.0087624897738,1.05970033627
+341,5.683333333,pose2_to_pose3_retreat,0.595489814453,9.07235278882e-05,1.06003222886,0.566060266893,0.00876246603074,1.05970036149
+342,5.700000000,pose2_to_pose3_retreat,0.594662721991,9.07952019387e-05,1.06003222345,0.565233174111,0.00876253661292,1.05970035592
+343,5.716666667,pose2_to_pose3_retreat,0.593868214739,9.08466926177e-05,1.06003231132,0.564438666436,0.00876258669999,1.05970044543
+344,5.733333333,pose2_to_pose3_retreat,0.593101590407,9.07932073361e-05,1.06003226139,0.563672041518,0.00876253118382,1.05970039302
+345,5.750000000,pose2_to_pose3_retreat,0.592353398154,9.08041002962e-05,1.06003217413,0.562923848543,0.00876253953976,1.05970030275
+346,5.766666667,pose2_to_pose3_retreat,0.591603887858,9.09084318276e-05,1.06003227946,0.562174337632,0.00876264183329,1.05970040923
+347,5.783333333,pose2_to_pose3_retreat,0.59084854344,9.09115328398e-05,1.06003235118,0.561418993665,0.00876264683361,1.05970049049
+348,5.800000000,pose2_to_pose3_retreat,0.5900826265,9.07411705087e-05,1.06003219136,0.560653078622,0.00876248323953,1.05970033912
+349,5.816666667,pose2_to_pose3_retreat,0.589313533628,9.07451433029e-05,1.06003235772,0.559883986658,0.0087624898085,1.05970049271
+350,5.833333333,pose2_to_pose3_retreat,0.588563411991,9.07694873744e-05,1.06003245097,0.559133863207,0.00876250763793,1.05970057658
+351,5.850000000,pose2_to_pose3_retreat,0.587836294011,9.0813527218e-05,1.06003227018,0.558406744978,0.00876255105163,1.05970040155
+352,5.866666667,pose2_to_pose3_retreat,0.587140439606,9.07700794286e-05,1.06003265829,0.557710891915,0.00876251149661,1.05970077233
+353,5.883333333,pose2_to_pose3_retreat,0.586479905651,9.08322801e-05,1.06003214987,0.557050355852,0.00876256732397,1.05970028424
+354,5.900000000,pose2_to_pose3_retreat,0.585852887904,9.07777753201e-05,1.06003210479,0.556423339662,0.00876251798821,1.05970023764
+355,5.916666667,pose2_to_pose3_retreat,0.585238681424,9.07308629371e-05,1.06003243518,0.555809133822,0.00876247295602,1.05970056188
+356,5.933333333,pose2_to_pose3_retreat,0.584630610915,9.07292575803e-05,1.06003242535,0.555201062199,0.00876246753186,1.05970055002
+357,5.950000000,pose2_to_pose3_retreat,0.584023545808,9.07737517128e-05,1.06003239982,0.554593997186,0.0087625125355,1.059700528
+358,5.966666667,pose2_to_pose3_retreat,0.583425256835,9.08045392476e-05,1.06003257741,0.55399570905,0.0087625459984,1.05970070121
+359,5.983333333,pose2_to_pose3_retreat,0.582842673234,9.08356360067e-05,1.06003241712,0.553413124437,0.00876257341486,1.05970053466
+360,6.000000000,pose2_to_pose3_retreat,0.582293219299,9.08462909875e-05,1.0600321523,0.552863670963,0.00876258615697,1.05970028343
+361,6.016666667,pose2_to_pose3_retreat,0.581777001466,9.06502360182e-05,1.06003223454,0.552347455042,0.00876239673203,1.05970036937
+362,6.033333333,pose2_to_pose3_retreat,0.581288914481,9.07042103873e-05,1.06003231396,0.551859368009,0.00876245059843,1.05970045023
+363,6.050000000,pose2_to_pose3_retreat,0.580825206755,9.07562478611e-05,1.06003220827,0.551395658174,0.00876249543057,1.05970034319
+364,6.066666667,pose2_to_pose3_retreat,0.580386590722,9.07878854693e-05,1.06003198632,0.550957041424,0.00876252477346,1.05970012485
+365,6.083333333,pose2_to_pose3_retreat,0.579970551129,9.07347501917e-05,1.06003203452,0.550541003492,0.00876247738734,1.05970017688
+366,6.100000000,pose2_to_pose3_retreat,0.579578881314,9.07182474465e-05,1.06003206673,0.550149334328,0.00876246308299,1.05970020876
+367,6.116666667,pose2_to_pose3_retreat,0.579213730357,9.06852567712e-05,1.06003216391,0.549784183671,0.00876243088214,1.05970029957
+368,6.133333333,pose2_to_pose3_retreat,0.578872000357,9.0731422324e-05,1.06003229681,0.549442452874,0.00876247406577,1.05970042491
+369,6.150000000,pose2_to_pose3_retreat,0.578550413612,9.08404234106e-05,1.06003232102,0.549120864824,0.00876257863064,1.05970044891
+370,6.166666667,pose2_to_pose3_retreat,0.578244887977,9.08684455704e-05,1.06003227299,0.54881533883,0.00876260565458,1.05970040665
+371,6.183333333,pose2_to_pose3_retreat,0.577954654572,9.07961520262e-05,1.06003246242,0.548525105339,0.00876253292642,1.05970059236
+372,6.200000000,pose2_to_pose3_retreat,0.577681599547,9.08077879461e-05,1.06003229497,0.54825205078,0.00876254667413,1.05970043888
+373,6.216666667,pose2_to_pose3_retreat,0.577426629043,9.06245832528e-05,1.06003233003,0.547997083764,0.00876237509394,1.05970046841
+374,6.233333333,pose2_to_pose3_retreat,0.577192675363,9.08615470273e-05,1.06003259445,0.54776312675,0.00876260039842,1.05970072391
+375,6.250000000,pose2_to_pose3_retreat,0.576979242204,9.07710231886e-05,1.06003259951,0.547549694121,0.00876251170714,1.05970072983
+376,6.266666667,pose2_to_pose3_retreat,0.576788464087,9.0624911342e-05,1.06003249763,0.547358917958,0.00876237218192,1.05970062677
+377,6.283333333,pose2_to_pose3_retreat,0.576617634352,9.08331018657e-05,1.06003235522,0.547188085943,0.00876257285105,1.05970049001
+378,6.300000000,pose2_to_pose3_retreat,0.576466502394,9.08254271537e-05,1.06003216341,0.547036952881,0.00876256139869,1.0597002976
+379,6.316666667,pose2_to_pose3_retreat,0.576332945663,9.07689946357e-05,1.06003214741,0.546903397714,0.00876251048061,1.059700287
+380,6.333333333,pose2_to_pose3_retreat,0.576215798566,9.08138574073e-05,1.06003213155,0.546786250233,0.00876255398891,1.05970026979
+381,6.350000000,pose2_to_pose3_retreat,0.576113739445,9.08806705323e-05,1.06003227755,0.546684190031,0.00876261692987,1.05970041085
+382,6.366666667,pose2_to_pose3_retreat,0.576025490154,9.08117337818e-05,1.0600324017,0.546595941624,0.00876255103747,1.05970053656
+383,6.383333333,pose2_to_pose3_retreat,0.575950956242,9.06881778246e-05,1.06003235936,0.546521409289,0.00876243297517,1.05970049784
+384,6.400000000,pose2_to_pose3_retreat,0.575887792855,9.07066340151e-05,1.06003235741,0.546458245764,0.00876245099092,1.05970049646
+385,6.416666667,pose2_to_pose3_retreat,0.575835849308,9.07564551614e-05,1.06003208927,0.546406299889,0.00876249305962,1.05970023224
+386,6.433333333,pose2_to_pose3_retreat,0.575793983615,9.09157552411e-05,1.0600323344,0.546364431834,0.00876264397428,1.05970046769
+387,6.450000000,pose2_to_pose3_retreat,0.575760845269,9.09162201146e-05,1.06003232685,0.546331293762,0.00876264540108,1.05970046099
+388,6.466666667,pose2_to_pose3_retreat,0.575735276766,9.07922688121e-05,1.06003234723,0.546305727871,0.00876253023297,1.05970047924
+389,6.483333333,pose2_to_pose3_retreat,0.575715430803,9.06907939626e-05,1.06003233488,0.546285884669,0.00876243819896,1.05970046882
+390,6.500000000,pose2_to_pose3_retreat,0.575700795772,9.06787612061e-05,1.0600323459,0.546271250479,0.00876242912536,1.05970048266
+391,6.516666667,pose2_to_pose3_retreat,0.575689453356,9.07863116868e-05,1.06003244866,0.546259905611,0.00876252833248,1.05970058493
+392,6.533333333,pose2_to_pose3_retreat,0.575681252538,9.07464935311e-05,1.06003245972,0.546251706311,0.00876249358699,1.05970059406
+393,6.550000000,pose2_to_pose3_retreat,0.575676105981,9.08019642531e-05,1.06003245663,0.546246558933,0.00876254628937,1.05970059131
+394,6.566666667,pose2_to_pose3_retreat,0.575673133911,9.09086775876e-05,1.06003244865,0.546243584715,0.00876264578319,1.05970058496
+395,6.583333333,pose2_to_pose3_retreat,0.575671362934,9.09669516942e-05,1.06003244222,0.546241812563,0.0087627001081,1.0597005794
+396,6.600000000,pose2_to_pose3_retreat,0.575670338149,9.09235141614e-05,1.06003241418,0.546240788624,0.00876265950706,1.05970055048
+397,6.616666667,pose2_to_pose3_retreat,0.575669770512,9.08994537978e-05,1.06003239865,0.546240221456,0.00876263701786,1.05970053446
+398,6.633333333,pose2_to_pose3_retreat,0.575669091466,9.0870671087e-05,1.06003238007,0.54623954297,0.00876261011468,1.0597005153
+399,6.650000000,pose2_to_pose3_retreat,0.575668466694,9.08441889251e-05,1.06003236297,0.546238918715,0.00876258536182,1.05970049767
+400,6.666666667,pose2_to_pose3_retreat,0.575668356368,9.08395125573e-05,1.06003235995,0.54623880848,0.00876258099083,1.05970049456
+401,6.683333333,pose2_to_pose3_retreat,0.575668178837,9.08319875472e-05,1.06003235509,0.546238631095,0.0087625739572,1.05970048955
+402,6.700000000,pose2_to_pose3_retreat,0.575667942629,9.08219753941e-05,1.06003234863,0.546238395082,0.00876256459885,1.05970048288
+403,6.716666667,pose2_to_pose3_retreat,0.575667500273,9.08056007177e-05,1.0600323355,0.546237953026,0.00876254922837,1.05970046947
+404,6.733333333,pose2_to_pose3_retreat,0.575666910077,9.08435814567e-05,1.06003229229,0.546237361569,0.0087625830029,1.05970042814
+405,6.750000000,pose2_to_pose3_retreat,0.575666661661,9.08595677057e-05,1.06003227411,0.546237112622,0.00876259721873,1.05970041074
+406,6.766666667,pose2_to_pose3_retreat,0.575666641804,9.08608455658e-05,1.06003227265,0.546237092723,0.00876259835507,1.05970040935
+407,6.783333333,pose2_to_pose3_retreat,0.575666527951,9.08681723556e-05,1.06003226432,0.546236978626,0.00876260487045,1.05970040138
+408,6.800000000,pose2_to_pose3_retreat,0.575666239677,9.08867235506e-05,1.06003224321,0.546236689737,0.00876262136718,1.05970038119
+409,6.816666667,pose2_to_pose3_retreat,0.575665816497,9.09139563452e-05,1.06003221223,0.546236265653,0.00876264558405,1.05970035156
+410,6.833333333,pose2_to_pose3_retreat,0.575665550736,9.09310588169e-05,1.06003219277,0.546235999324,0.00876266079249,1.05970033295
+411,6.850000000,pose2_to_pose3_retreat,0.575665474929,9.093593719e-05,1.06003218722,0.546235923355,0.0087626651306,1.05970032764
+412,6.866666667,pose2_to_pose3_retreat,0.575665361585,9.09317186732e-05,1.06003222313,0.54623580996,0.00876266068349,1.05970036207
+413,6.883333333,pose2_to_pose3_retreat,0.575665278722,9.09283675437e-05,1.0600322504,0.546235727064,0.00876265717868,1.05970038822
+414,6.900000000,pose2_to_pose3_retreat,0.575665093458,9.09208751737e-05,1.06003231137,0.546235541727,0.00876264934271,1.05970044668
+415,6.916666667,pose2_to_pose3_retreat,0.575664886961,9.09125241189e-05,1.06003237933,0.546235335149,0.00876264060867,1.05970051185
+416,6.933333333,pose2_to_pose3_retreat,0.57566480797,9.09093296097e-05,1.06003240533,0.546235256127,0.00876263726766,1.05970053677
+417,6.950000000,pose2_to_pose3_retreat,0.57566458945,9.08970000949e-05,1.06003248497,0.546235037795,0.00876262545471,1.0597006132
+418,6.966666667,pose2_to_pose3_retreat,0.575664452565,9.08665475204e-05,1.06003258515,0.546234902816,0.00876260132567,1.05970070969
+419,6.983333333,pose2_to_pose3_retreat,0.575664411798,9.08574779768e-05,1.06003261498,0.546234862615,0.00876259413943,1.05970073843
+420,7.000000000,pose2_to_pose3_retreat,0.57566439318,9.08565880818e-05,1.06003261614,0.546234844132,0.00876259370767,1.05970073964
+421,7.016666667,pose2_to_pose3_retreat,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266066003,1.05970045625

Part2/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_01/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df003ec97428c7d647d752b7700e365bd7112cc1bd2ced8c2436ecc4013ccedb
+size 26308170

Part2/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_01/simulation_data.csv

@@ -0,0 +1,417 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+1,0.016666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+2,0.033333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+3,0.050000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+4,0.066666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+5,0.083333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+6,0.100000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+7,0.116666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+8,0.133333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+9,0.150000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+10,0.166666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+11,0.183333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+12,0.200000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+13,0.216666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+14,0.233333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+15,0.250000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+16,0.266666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+17,0.283333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+18,0.300000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+19,0.316666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+20,0.333333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+21,0.350000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+22,0.366666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+23,0.383333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+24,0.400000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+25,0.416666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+26,0.433333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+27,0.450000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+28,0.466666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+29,0.483333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+30,0.500000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+31,0.516666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+32,0.533333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+33,0.550000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+34,0.566666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+35,0.583333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+36,0.600000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+37,0.616666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+38,0.633333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+39,0.650000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+40,0.666666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+41,0.683333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+42,0.700000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+43,0.716666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+44,0.733333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+45,0.750000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+46,0.766666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+47,0.783333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+48,0.800000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+49,0.816666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+50,0.833333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+51,0.850000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+52,0.866666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+53,0.883333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+54,0.900000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+55,0.916666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+56,0.933333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+57,0.950000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+58,0.966666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+59,0.983333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+60,1.000000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+61,1.016666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+62,1.033333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+63,1.050000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+64,1.066666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+65,1.083333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+66,1.100000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+67,1.116666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+68,1.133333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+69,1.150000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+70,1.166666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+71,1.183333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+72,1.200000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+73,1.216666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+74,1.233333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+75,1.250000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+76,1.266666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+77,1.283333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+78,1.300000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+79,1.316666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+80,1.333333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+81,1.350000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+82,1.366666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+83,1.383333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+84,1.400000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+85,1.416666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+86,1.433333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+87,1.450000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+88,1.466666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+89,1.483333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+90,1.500000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+91,1.516666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+92,1.533333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+93,1.550000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+94,1.566666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+95,1.583333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+96,1.600000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+97,1.616666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+98,1.633333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+99,1.650000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+100,1.666666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+101,1.683333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+102,1.700000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+103,1.716666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+104,1.733333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+105,1.750000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+106,1.766666667,pose1_to_pose2_press,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+107,1.783333333,pose1_to_pose2_press,0.575664343102,9.05205576974e-05,1.07003223163,0.546234798972,0.00876227459685,1.06970036118
+108,1.800000000,pose1_to_pose2_press,0.575664437035,9.05865875285e-05,1.07003229371,0.546234891504,0.00876233579524,1.06970042125
+109,1.816666667,pose1_to_pose2_press,0.575664572194,9.06605904874e-05,1.07003235155,0.54623502499,0.00876240406453,1.06970047759
+110,1.833333333,pose1_to_pose2_press,0.575664779718,9.06571886581e-05,1.07003226489,0.546235231859,0.00876239864596,1.06970039636
+111,1.850000000,pose1_to_pose2_press,0.57566511543,9.06562798357e-05,1.07003223229,0.546235567136,0.00876239639407,1.0697003672
+112,1.866666667,pose1_to_pose2_press,0.575665142525,9.0656511131e-05,1.0700322368,0.546235594238,0.00876239664424,1.06970037163
+113,1.883333333,pose1_to_pose2_press,0.575665395366,9.06586694537e-05,1.07003227882,0.546235847139,0.0087623989787,1.06970041294
+114,1.900000000,pose1_to_pose2_press,0.575665689644,9.06611814885e-05,1.07003232773,0.546236141486,0.00876240169573,1.06970046102
+115,1.916666667,pose1_to_pose2_press,0.575667387989,9.06784053746e-05,1.07003244969,0.54623784013,0.00876241991118,1.06970058236
+116,1.933333333,pose1_to_pose2_press,0.575671391921,9.07909944483e-05,1.07003244885,0.546241842825,0.00876252831622,1.06970058189
+117,1.950000000,pose1_to_pose2_press,0.575681999168,9.0726441831e-05,1.07003259561,0.546252451081,0.00876246685849,1.06970072
+118,1.966666667,pose1_to_pose2_press,0.575700453988,9.07190496824e-05,1.07003226847,0.546270905945,0.00876245977679,1.06970039704
+119,1.983333333,pose1_to_pose2_press,0.575730114409,9.07314382466e-05,1.07003231546,0.546300565983,0.00876247116032,1.06970045162
+120,2.000000000,pose1_to_pose2_press,0.575770655453,9.07799345401e-05,1.0700324913,0.546341106815,0.00876251849535,1.06970061583
+121,2.016666667,pose1_to_pose2_press,0.575822690462,9.08854516425e-05,1.07003247716,0.546393142123,0.00876262514365,1.06970060466
+122,2.033333333,pose1_to_pose2_press,0.575883329194,9.07777398355e-05,1.07003247669,0.546453780903,0.00876251763637,1.06970060517
+123,2.050000000,pose1_to_pose2_press,0.575952535369,9.08046622982e-05,1.07003239976,0.546522985691,0.00876253996138,1.06970053107
+124,2.066666667,pose1_to_pose2_press,0.576033751308,9.07714531957e-05,1.07003220669,0.546604201378,0.00876250595865,1.06970033954
+125,2.083333333,pose1_to_pose2_press,0.576126996371,9.07121410003e-05,1.07003214723,0.546697448257,0.00876245287469,1.06970028172
+126,2.100000000,pose1_to_pose2_press,0.576233478475,9.07189448481e-05,1.07003239227,0.54680393142,0.00876246318012,1.06970052432
+127,2.116666667,pose1_to_pose2_press,0.576354126994,9.07400683057e-05,1.07003253901,0.546924579521,0.00876248277867,1.06970066829
+128,2.133333333,pose1_to_pose2_press,0.576489977252,9.0777778417e-05,1.07003241471,0.547060429099,0.00876251825882,1.0697005459
+129,2.150000000,pose1_to_pose2_press,0.576637384995,9.0749085207e-05,1.07003226206,0.54720783678,0.00876248939405,1.06970039424
+130,2.166666667,pose1_to_pose2_press,0.576796523375,9.06289097956e-05,1.07003212464,0.54736697707,0.00876237570512,1.0697002569
+131,2.183333333,pose1_to_pose2_press,0.576970721789,9.07351254327e-05,1.07003223251,0.547541175052,0.00876248045891,1.06970036483
+132,2.200000000,pose1_to_pose2_press,0.577160206727,9.08706060932e-05,1.0700322842,0.547730657083,0.00876260656279,1.06970042929
+133,2.216666667,pose1_to_pose2_press,0.577367157067,9.08378160592e-05,1.07003228122,0.547937608205,0.00876257638136,1.06970042496
+134,2.233333333,pose1_to_pose2_press,0.577594131721,9.07253538935e-05,1.07003231573,0.548164584288,0.00876246848646,1.0697004521
+135,2.250000000,pose1_to_pose2_press,0.577841882391,9.06767800215e-05,1.07003216697,0.548412334513,0.00876241826524,1.06970029964
+136,2.266666667,pose1_to_pose2_press,0.57811288833,9.07758415799e-05,1.07003235187,0.548683339258,0.00876251295348,1.06970047616
+137,2.283333333,pose1_to_pose2_press,0.578406326175,9.07972672068e-05,1.07003242504,0.548976776687,0.00876253297806,1.0697005495
+138,2.300000000,pose1_to_pose2_press,0.578724316453,9.07446635966e-05,1.07003240248,0.549294767278,0.00876248164029,1.06970053218
+139,2.316666667,pose1_to_pose2_press,0.579063791821,9.07244991759e-05,1.07003247022,0.549634243785,0.00876246534567,1.06970059999
+140,2.333333333,pose1_to_pose2_press,0.579424145497,9.07727634758e-05,1.07003243526,0.549994597688,0.00876251434718,1.06970056416
+141,2.350000000,pose1_to_pose2_press,0.579801135709,9.08545554518e-05,1.07003233995,0.550371586091,0.00876259009993,1.06970047136
+142,2.366666667,pose1_to_pose2_press,0.580194413847,9.0745365058e-05,1.07003235857,0.550764865318,0.0087624846559,1.06970049126
+143,2.383333333,pose1_to_pose2_press,0.580604851874,9.06118927668e-05,1.07003250593,0.551175305174,0.0087623569663,1.0697006275
+144,2.400000000,pose1_to_pose2_press,0.581033849659,9.07239325362e-05,1.07003245284,0.551604302152,0.00876246672574,1.06970058628
+145,2.416666667,pose1_to_pose2_press,0.581485422444,9.08784880192e-05,1.07003234268,0.552055872393,0.00876261265328,1.06970047625
+146,2.433333333,pose1_to_pose2_press,0.58196175864,9.08191522717e-05,1.07003223094,0.552532209279,0.00876255563801,1.06970036388
+147,2.450000000,pose1_to_pose2_press,0.582464591923,9.08062789743e-05,1.07003232618,0.55303504276,0.00876254316291,1.06970045199
+148,2.466666667,pose1_to_pose2_press,0.582994995962,9.06931995842e-05,1.07003242994,0.553565448435,0.00876243574526,1.06970055842
+149,2.483333333,pose1_to_pose2_press,0.583549158312,9.07346933008e-05,1.07003240189,0.554119610594,0.00876247654409,1.0697005292
+150,2.500000000,pose1_to_pose2_press,0.5841168458,9.07809552923e-05,1.07003233914,0.554687297356,0.00876252046335,1.0697004695
+151,2.516666667,pose1_to_pose2_press,0.584696171566,9.07482690202e-05,1.07003240313,0.555266623639,0.00876248947657,1.06970053202
+152,2.533333333,pose1_to_pose2_press,0.585288592467,9.0704476571e-05,1.07003246489,0.555859045449,0.00876244844036,1.06970058519
+153,2.550000000,pose1_to_pose2_press,0.585890942854,9.068183377e-05,1.07003236062,0.556461396063,0.00876242655044,1.06970048043
+154,2.566666667,pose1_to_pose2_press,0.58650556121,9.07492088036e-05,1.07003229693,0.557076013322,0.00876249035935,1.06970042085
+155,2.583333333,pose1_to_pose2_press,0.587144208574,9.08281165693e-05,1.07003247738,0.557714658304,0.00876256123052,1.06970060247
+156,2.600000000,pose1_to_pose2_press,0.587800538064,9.07995730938e-05,1.07003245799,0.558370989985,0.00876254026731,1.06970058677
+157,2.616666667,pose1_to_pose2_press,0.58846561763,9.07126932809e-05,1.07003221252,0.559036069655,0.00876245400677,1.06970034834
+158,2.633333333,pose1_to_pose2_press,0.589148077422,9.06474742688e-05,1.07003241222,0.559718531691,0.00876239637516,1.06970054731
+159,2.650000000,pose1_to_pose2_press,0.589856051839,9.07284959935e-05,1.07003235111,0.560426503459,0.00876246845289,1.06970048736
+160,2.666666667,pose1_to_pose2_press,0.590571654044,9.07114973626e-05,1.07003232855,0.561142106551,0.00876245439483,1.06970046301
+161,2.683333333,pose1_to_pose2_press,0.591294448761,9.07519393288e-05,1.07003231412,0.56186490016,0.00876249117042,1.06970045101
+162,2.700000000,pose1_to_pose2_press,0.592028879768,9.07685203217e-05,1.07003236835,0.562599331241,0.00876250812869,1.06970050856
+163,2.716666667,pose1_to_pose2_press,0.592766225439,9.07972085566e-05,1.07003246038,0.563336676362,0.00876253461951,1.06970059196
+164,2.733333333,pose1_to_pose2_press,0.593503549917,9.08018196534e-05,1.07003239399,0.564073999996,0.00876253611029,1.0697005189
+165,2.750000000,pose1_to_pose2_press,0.594246774282,9.06994991903e-05,1.07003221722,0.564817226408,0.00876244103555,1.06970034996
+166,2.766666667,pose1_to_pose2_press,0.594995826752,9.06684458085e-05,1.07003223374,0.565566279798,0.00876241322992,1.06970036981
+167,2.783333333,pose1_to_pose2_press,0.595743910247,9.08272285627e-05,1.07003231171,0.566314360832,0.00876256364952,1.06970044748
+168,2.800000000,pose1_to_pose2_press,0.596488612556,9.08948123495e-05,1.07003219394,0.567059062576,0.00876262943909,1.069700333
+169,2.816666667,pose1_to_pose2_press,0.597232027485,9.09712115351e-05,1.07003234205,0.567802476103,0.00876270069667,1.06970047114
+170,2.833333333,pose1_to_pose2_press,0.597975250525,9.07591999378e-05,1.07003245179,0.56854570167,0.00876249728803,1.06970058155
+171,2.850000000,pose1_to_pose2_press,0.598717446032,9.08682835492e-05,1.07003242405,0.569287896682,0.00876260433829,1.06970054472
+172,2.866666667,pose1_to_pose2_press,0.599470463086,9.0874652676e-05,1.07003228924,0.570040913222,0.00876260913997,1.06970041454
+173,2.883333333,pose1_to_pose2_press,0.600233428415,9.07803523065e-05,1.07003220905,0.570803879556,0.00876251853962,1.06970034205
+174,2.900000000,pose1_to_pose2_press,0.600995828416,9.07891453616e-05,1.07003230562,0.571566278574,0.00876252375581,1.06970043238
+175,2.916666667,pose1_to_pose2_press,0.601752533349,9.07920858043e-05,1.07003239134,0.572322983821,0.00876252747205,1.06970051061
+176,2.933333333,pose1_to_pose2_press,0.602491193203,9.08615362864e-05,1.07003229928,0.573061643843,0.00876259779925,1.0697004266
+177,2.950000000,pose1_to_pose2_press,0.603208113612,9.09217479308e-05,1.07003228001,0.57377856354,0.00876265591808,1.06970041585
+178,2.966666667,pose1_to_pose2_press,0.603903168719,9.07792524693e-05,1.07003245885,0.574473620424,0.00876251925715,1.06970058963
+179,2.983333333,pose1_to_pose2_press,0.604586370668,9.08000331129e-05,1.07003242422,0.575156821256,0.00876253620578,1.06970055403
+180,3.000000000,pose1_to_pose2_press,0.605264654475,9.07193834802e-05,1.07003223709,0.57583510642,0.00876246011779,1.06970036586
+181,3.016666667,pose1_to_pose2_press,0.605941325977,9.0805236237e-05,1.07003222789,0.57651177787,0.00876254583536,1.06970035775
+182,3.033333333,pose1_to_pose2_press,0.606610141138,9.06456949142e-05,1.07003258273,0.577180594803,0.00876239201497,1.06970070515
+183,3.050000000,pose1_to_pose2_press,0.607264538434,9.08956730805e-05,1.07003223633,0.577834987534,0.00876262727364,1.06970037899
+184,3.066666667,pose1_to_pose2_press,0.60789200431,9.08802505126e-05,1.0700321116,0.578462454225,0.00876261436609,1.06970024784
+185,3.083333333,pose1_to_pose2_press,0.608491753634,9.08074072159e-05,1.07003241837,0.579062205312,0.008762547269,1.0697005484
+186,3.100000000,pose1_to_pose2_press,0.60906392347,9.0750393371e-05,1.07003238169,0.579634375771,0.00876249245153,1.06970051401
+187,3.116666667,pose1_to_pose2_press,0.609610524163,9.08115701127e-05,1.07003229726,0.580180975786,0.0087625514377,1.06970043258
+188,3.133333333,pose1_to_pose2_press,0.610130862012,9.09025124885e-05,1.07003241656,0.580701312899,0.00876263988895,1.06970055207
+189,3.150000000,pose1_to_pose2_press,0.610632464219,9.07703906633e-05,1.07003233003,0.58120291592,0.00876251058331,1.06970046705
+190,3.166666667,pose1_to_pose2_press,0.611120347247,9.07567034899e-05,1.07003244865,0.581690798609,0.00876249547818,1.06970057877
+191,3.183333333,pose1_to_pose2_press,0.611610371434,9.08307672257e-05,1.07003245889,0.582180822763,0.0087625694702,1.06970059012
+192,3.200000000,pose1_to_pose2_press,0.612103239632,9.07976194376e-05,1.0700324413,0.582673690962,0.0087625364411,1.06970057571
+193,3.216666667,pose1_to_pose2_press,0.612583759735,9.07114761745e-05,1.07003238119,0.583154211617,0.00876245205041,1.06970051253
+194,3.233333333,pose1_to_pose2_press,0.613044646497,9.08158283862e-05,1.07003242962,0.583615098224,0.00876255572819,1.06970055665
+195,3.250000000,pose1_to_pose2_press,0.613476564463,9.09202839237e-05,1.07003241183,0.584047013682,0.00876265171565,1.06970053892
+196,3.266666667,pose1_to_pose2_press,0.613872524104,9.08287315415e-05,1.07003228739,0.584442973882,0.00876256231035,1.06970041928
+197,3.283333333,pose1_to_pose2_press,0.614232840094,9.07355768639e-05,1.0700321682,0.584803291702,0.00876247558871,1.06970030295
+198,3.300000000,pose1_to_pose2_press,0.614579117947,9.08575320826e-05,1.07003207479,0.585149566512,0.00876258729917,1.06970020699
+199,3.316666667,pose1_to_pose2_press,0.614913433342,9.09209497808e-05,1.07003194962,0.585483882668,0.00876265378537,1.06970009038
+200,3.333333333,pose1_to_pose2_press,0.615234433549,9.09083011829e-05,1.07003227563,0.585804883985,0.00876264506851,1.06970041474
+201,3.350000000,pose1_to_pose2_press,0.615541494941,9.09059763309e-05,1.07003252013,0.586111943579,0.00876263664679,1.06970065474
+202,3.366666667,pose1_to_pose2_press,0.615832409392,9.07770231591e-05,1.07003228,0.586402860061,0.00876251477796,1.06970041481
+203,3.383333333,pose1_to_pose2_press,0.616098893828,9.07223209932e-05,1.07003239129,0.586669346147,0.00876246571904,1.06970052382
+204,3.400000000,pose1_to_pose2_press,0.616340405826,9.07591864072e-05,1.07003240925,0.586910857634,0.00876250077555,1.06970053568
+205,3.416666667,pose1_to_pose2_press,0.616560858125,9.07720582008e-05,1.07003220718,0.587131308931,0.00876251070507,1.0697003411
+206,3.433333333,pose1_to_pose2_press,0.616761679543,9.08318156095e-05,1.07003215416,0.587332129153,0.00876256682177,1.06970029496
+207,3.450000000,pose1_to_pose2_press,0.616942426299,9.08744426223e-05,1.07003232759,0.587512875757,0.00876260882005,1.06970046218
+208,3.466666667,pose1_to_pose2_press,0.617108140858,9.06709979202e-05,1.07003235844,0.587678593285,0.00876241543186,1.06970048958
+209,3.483333333,pose1_to_pose2_press,0.617259826384,9.0708469871e-05,1.07003245519,0.587830278173,0.00876245085945,1.0697005868
+210,3.500000000,pose1_to_pose2_press,0.617396919955,9.07984985107e-05,1.07003221757,0.587967370516,0.00876253714661,1.06970035714
+211,3.516666667,pose1_to_pose2_press,0.617520277832,9.09048490819e-05,1.07003219693,0.588090728359,0.00876264338353,1.06970033429
+212,3.533333333,pose1_to_pose2_press,0.61763165562,9.08924610556e-05,1.07003220927,0.588202105764,0.00876262963884,1.06970034318
+213,3.550000000,pose1_to_pose2_press,0.617731336101,9.08366976228e-05,1.0700323333,0.588301786999,0.00876257652867,1.06970046796
+214,3.566666667,pose1_to_pose2_press,0.61781818397,9.08012783826e-05,1.07003227397,0.588388633823,0.00876253765468,1.06970041068
+215,3.583333333,pose1_to_pose2_press,0.617893776214,9.07966032983e-05,1.07003224955,0.588464225392,0.00876253065167,1.06970038557
+216,3.600000000,pose1_to_pose2_press,0.617958287067,9.08314224023e-05,1.0700324911,0.588528738891,0.0087625743602,1.06970062402
+217,3.616666667,pose1_to_pose2_press,0.61801202004,9.08692521678e-05,1.07003221135,0.588582470409,0.00876260724476,1.06970034195
+218,3.633333333,pose1_to_pose2_press,0.618056370448,9.06729165144e-05,1.07003207523,0.588626820802,0.00876241125021,1.06970021016
+219,3.650000000,pose1_to_pose2_press,0.618092195134,9.08103586098e-05,1.07003242702,0.588662646526,0.00876255182352,1.06970055391
+220,3.666666667,pose1_to_pose2_press,0.618120997909,9.07509259821e-05,1.07003219831,0.588691449674,0.00876249392161,1.06970033313
+221,3.683333333,pose1_to_pose2_press,0.618143454931,9.07375476155e-05,1.07003222093,0.588713906201,0.00876247881672,1.06970035417
+222,3.700000000,pose1_to_pose2_press,0.618160792621,9.07782318367e-05,1.07003234685,0.588731242931,0.00876251616208,1.06970047672
+223,3.716666667,pose1_to_pose2_press,0.618173420019,9.08278922392e-05,1.07003232547,0.588743869321,0.00876256262471,1.06970045957
+224,3.733333333,pose1_to_pose2_press,0.618183110011,9.07746252598e-05,1.07003242989,0.588753560178,0.00876251209489,1.06970055872
+225,3.750000000,pose1_to_pose2_press,0.618190257846,9.07876832504e-05,1.07003241841,0.588760707693,0.00876252414644,1.06970054845
+226,3.766666667,pose1_to_pose2_press,0.618195100701,9.08441606832e-05,1.0700323312,0.588765549463,0.00876257719218,1.06970046667
+227,3.783333333,pose1_to_pose2_press,0.618198550891,9.08856683752e-05,1.07003232374,0.58876899984,0.00876261924321,1.06970045847
+228,3.800000000,pose1_to_pose2_press,0.618200823373,9.09132552241e-05,1.07003232947,0.588771272633,0.00876264776988,1.06970046282
+229,3.816666667,pose1_to_pose2_press,0.618202089074,9.09318207135e-05,1.07003235506,0.588772538254,0.00876266599583,1.06970048707
+230,3.833333333,pose1_to_pose2_press,0.618202650854,9.0942388793e-05,1.07003238272,0.588773099813,0.00876267578552,1.0697005137
+231,3.850000000,pose1_to_pose2_press,0.618202961857,9.09482393295e-05,1.07003239803,0.588773410695,0.00876268120514,1.06970052844
+232,3.866666667,pose1_to_pose2_press,0.618203072566,9.09503219605e-05,1.07003240348,0.58877352136,0.00876268313438,1.06970053369
+233,3.883333333,pose1_to_pose2_press,0.6182031457,9.09516977398e-05,1.07003240708,0.588773594465,0.00876268440883,1.06970053716
+234,3.900000000,pose1_to_pose2_press,0.618203185726,9.09524506959e-05,1.07003240905,0.588773634475,0.00876268510632,1.06970053906
+235,3.916666667,pose1_to_pose2_press,0.618203450486,9.09574313129e-05,1.07003242208,0.588773899132,0.0087626897201,1.06970055161
+236,3.933333333,pose1_to_pose2_press,0.618203759849,9.09632510024e-05,1.07003243731,0.588774208375,0.00876269511114,1.06970056628
+237,3.950000000,pose1_to_pose2_press,0.618204141301,9.09704267845e-05,1.07003245609,0.588774589676,0.0087627017584,1.06970058436
+238,3.966666667,pose1_to_pose2_press,0.618204628357,9.09795891879e-05,1.07003248006,0.588775076542,0.00876271024595,1.06970060745
+239,3.983333333,pose1_to_pose2_press,0.618205072884,9.09487090069e-05,1.07003246029,0.588775521627,0.00876268129121,1.06970058835
+240,4.000000000,pose1_to_pose2_press,0.618205513834,9.08996660216e-05,1.07003242112,0.588775963475,0.0087626353505,1.06970055056
+241,4.016666667,pose1_to_pose2_press,0.618205827692,9.08647582861e-05,1.07003239325,0.588776277972,0.0087626026509,1.06970052367
+242,4.033333333,pose1_to_pose2_press,0.618205985011,9.08472611555e-05,1.07003237928,0.58877643561,0.00876258626057,1.06970051018
+243,4.050000000,pose1_to_pose2_press,0.618206317956,9.08102305568e-05,1.07003234971,0.588776769233,0.00876255157239,1.06970048165
+244,4.066666667,pose1_to_pose2_press,0.618206508075,9.08477747736e-05,1.07003236031,0.588776958688,0.00876258695963,1.06970049476
+245,4.083333333,pose1_to_pose2_press,0.618206609843,9.08814667113e-05,1.07003237236,0.588777059856,0.00876261868749,1.06970050858
+246,4.100000000,pose1_to_pose2_press,0.618206640145,9.08914987158e-05,1.07003237595,0.588777089979,0.00876262813467,1.0697005127
+247,4.116666667,pose1_to_pose2_press,0.618206898942,9.09771780853e-05,1.07003240658,0.588777347252,0.00876270881933,1.06970054786
+248,4.133333333,pose1_to_pose2_press,0.61820695748,9.09643742622e-05,1.07003239981,0.588777406068,0.0087626969558,1.06970054095
+249,4.150000000,pose1_to_pose2_press,0.618206963255,9.09514576977e-05,1.07003239418,0.588777412096,0.00876268488154,1.06970053488
+250,4.166666667,pose1_to_pose2_press,0.618207020319,9.08238248587e-05,1.07003233854,0.588777471662,0.00876256557184,1.06970047495
+251,4.183333333,pose1_to_pose2_press,0.618207120935,9.08255622919e-05,1.07003233296,0.58877757162,0.00876256483983,1.0697004633
+252,4.200000000,pose1_to_pose2_press,0.618207120935,9.08255622919e-05,1.07003233296,0.588777571616,0.00876256484079,1.0697004633
+253,4.216666667,pose2_hold,0.618207120935,9.08255622919e-05,1.07003233296,0.588777571618,0.0087625648413,1.0697004633
+254,4.233333333,pose2_hold,0.618207120935,9.08255622919e-05,1.07003233296,0.588777571618,0.00876256484076,1.0697004633
+255,4.250000000,pose2_hold,0.618207120935,9.08255622919e-05,1.07003233296,0.588777571618,0.00876256484074,1.0697004633
+256,4.266666667,pose2_hold,0.618207120935,9.08255622919e-05,1.07003233296,0.588777571618,0.00876256484129,1.0697004633
+257,4.283333333,pose2_hold,0.618207120935,9.08255622919e-05,1.07003233296,0.588777571618,0.0087625648413,1.0697004633
+258,4.300000000,pose2_hold,0.618207120935,9.08255622919e-05,1.07003233296,0.588777571618,0.00876256484131,1.0697004633
+259,4.316666667,pose2_hold,0.618207120935,9.08255622919e-05,1.07003233296,0.588777571618,0.00876256484126,1.0697004633
+260,4.333333333,pose2_hold,0.618207120935,9.08255622919e-05,1.07003233296,0.588777571618,0.00876256484138,1.0697004633
+261,4.350000000,pose2_hold,0.618207120935,9.08255622919e-05,1.07003233296,0.588777571618,0.00876256484141,1.0697004633
+262,4.366666667,pose2_hold,0.618207120935,9.08255622919e-05,1.07003233296,0.588777571618,0.00876256484145,1.0697004633
+263,4.383333333,pose2_hold,0.618207120935,9.08255622919e-05,1.07003233296,0.588777571618,0.0087625648414,1.0697004633
+264,4.400000000,pose2_hold,0.618207120935,9.08255622919e-05,1.07003233296,0.588777571618,0.00876256484106,1.0697004633
+265,4.416666667,pose2_hold,0.618207120935,9.08255622919e-05,1.07003233296,0.588777571618,0.0087625648415,1.0697004633
+266,4.433333333,pose2_hold,0.618207120935,9.08255622919e-05,1.07003233296,0.588777571619,0.00876256484118,1.0697004633
+267,4.450000000,pose2_hold,0.618207120935,9.08255622919e-05,1.07003233296,0.588777571619,0.00876256484117,1.0697004633
+268,4.466666667,pose2_hold,0.618207120935,9.08255622919e-05,1.07003233296,0.588777571618,0.00876256484152,1.0697004633
+269,4.483333333,pose2_hold,0.618207120935,9.08255622919e-05,1.07003233296,0.588777571619,0.00876256484141,1.0697004633
+270,4.500000000,pose2_hold,0.618207120935,9.08255622919e-05,1.07003233296,0.588777571619,0.00876256484141,1.0697004633
+271,4.516666667,pose2_to_pose3_retreat,0.618207090822,9.07620133875e-05,1.07003245333,0.588777541804,0.00876250235613,1.06970058496
+272,4.533333333,pose2_to_pose3_retreat,0.618207090775,9.07587853731e-05,1.07003242973,0.588777541814,0.00876249932239,1.06970056144
+273,4.550000000,pose2_to_pose3_retreat,0.618207090732,9.07558401796e-05,1.0700324082,0.588777541822,0.00876249655445,1.06970053997
+274,4.566666667,pose2_to_pose3_retreat,0.618207090622,9.07482774972e-05,1.07003235291,0.588777541845,0.00876248944691,1.06970048486
+275,4.583333333,pose2_to_pose3_retreat,0.61820699767,9.07484525418e-05,1.07003240026,0.588777449054,0.00876249017611,1.06970053239
+276,4.600000000,pose2_to_pose3_retreat,0.61820688296,9.07511732382e-05,1.07003247703,0.588777334498,0.00876249343016,1.06970060933
+277,4.616666667,pose2_to_pose3_retreat,0.618206765092,9.07539688083e-05,1.0700325559,0.588777216789,0.00876249677376,1.06970068838
+278,4.633333333,pose2_to_pose3_retreat,0.618205726606,9.0720358789e-05,1.07003241752,0.588776178973,0.00876246518568,1.06970054341
+279,4.650000000,pose2_to_pose3_retreat,0.61820234734,9.08762983999e-05,1.07003220634,0.588772795777,0.00876260830927,1.0697003463
+280,4.666666667,pose2_to_pose3_retreat,0.618192884864,9.0707524985e-05,1.07003245217,0.588763336264,0.00876244934474,1.06970058512
+281,4.683333333,pose2_to_pose3_retreat,0.618175885171,9.07922588188e-05,1.07003247526,0.588746336245,0.00876253263237,1.06970060123
+282,4.700000000,pose2_to_pose3_retreat,0.618147292698,9.07474156025e-05,1.07003229809,0.588717743515,0.00876248714092,1.06970042784
+283,4.716666667,pose2_to_pose3_retreat,0.618107834347,9.08569575697e-05,1.07003234701,0.58867828523,0.00876259651878,1.06970046948
+284,4.733333333,pose2_to_pose3_retreat,0.61805759709,9.07744171908e-05,1.07003223696,0.588628048767,0.00876251677106,1.06970036747
+285,4.750000000,pose2_to_pose3_retreat,0.617999091079,9.08221730383e-05,1.07003247362,0.588569541994,0.0087625621486,1.06970060067
+286,4.766666667,pose2_to_pose3_retreat,0.617932574881,9.08108959935e-05,1.07003222262,0.588503024812,0.0087625473077,1.06970035209
+287,4.783333333,pose2_to_pose3_retreat,0.617858807595,9.07434029423e-05,1.07003205409,0.588429258639,0.00876248423017,1.06970019766
+288,4.800000000,pose2_to_pose3_retreat,0.617776829317,9.08055602497e-05,1.07003224438,0.588347279961,0.00876254468542,1.06970038254
+289,4.816666667,pose2_to_pose3_retreat,0.617681922322,9.07736424139e-05,1.07003225043,0.588252373391,0.00876251401505,1.06970038599
+290,4.833333333,pose2_to_pose3_retreat,0.617572861933,9.07475274946e-05,1.07003227299,0.588143312848,0.00876248723514,1.06970040652
+291,4.850000000,pose2_to_pose3_retreat,0.617446925612,9.07861128375e-05,1.07003239869,0.588017375837,0.00876252316693,1.06970052633
+292,4.866666667,pose2_to_pose3_retreat,0.617305029043,9.08245447483e-05,1.07003244461,0.587875479326,0.00876256161046,1.06970057019
+293,4.883333333,pose2_to_pose3_retreat,0.617147392209,9.08059808947e-05,1.0700323105,0.587717843092,0.00876254538504,1.06970044735
+294,4.900000000,pose2_to_pose3_retreat,0.616976036665,9.08358324107e-05,1.07003230959,0.587546486885,0.00876257293999,1.06970044863
+295,4.916666667,pose2_to_pose3_retreat,0.61679071935,9.08443842257e-05,1.07003229623,0.587361171479,0.00876258796554,1.06970043778
+296,4.933333333,pose2_to_pose3_retreat,0.616587994544,9.07273787707e-05,1.07003232915,0.587158446533,0.00876247004649,1.06970046292
+297,4.950000000,pose2_to_pose3_retreat,0.616365850192,9.08587401849e-05,1.07003237259,0.586936300651,0.00876259563868,1.06970049587
+298,4.966666667,pose2_to_pose3_retreat,0.616120816721,9.08850356142e-05,1.07003248772,0.586691267528,0.00876262293596,1.06970061089
+299,4.983333333,pose2_to_pose3_retreat,0.615852779609,9.0783024818e-05,1.07003240288,0.586423231578,0.00876252502721,1.06970053489
+300,5.000000000,pose2_to_pose3_retreat,0.615562721951,9.07591655481e-05,1.07003209977,0.586133173933,0.00876250122722,1.06970023738
+301,5.016666667,pose2_to_pose3_retreat,0.615250854713,9.07338097849e-05,1.07003223329,0.585821307473,0.0087624782287,1.0697003679
+302,5.033333333,pose2_to_pose3_retreat,0.614919073315,9.08259743383e-05,1.07003248846,0.58548952299,0.00876255931575,1.06970061223
+303,5.050000000,pose2_to_pose3_retreat,0.614566718958,9.09060386577e-05,1.0700324667,0.585137169828,0.00876264347152,1.06970059654
+304,5.066666667,pose2_to_pose3_retreat,0.614193098516,9.07046364092e-05,1.07003236623,0.584763550073,0.00876244423622,1.06970049716
+305,5.083333333,pose2_to_pose3_retreat,0.613795939136,9.07455773338e-05,1.07003250873,0.584366390596,0.00876248457735,1.06970063617
+306,5.100000000,pose2_to_pose3_retreat,0.613381103361,9.08359231565e-05,1.07003237261,0.583951554466,0.00876257378026,1.06970050305
+307,5.116666667,pose2_to_pose3_retreat,0.612949595577,9.08182542206e-05,1.07003231767,0.583520047124,0.00876255765595,1.06970044918
+308,5.133333333,pose2_to_pose3_retreat,0.612499135751,9.07754340533e-05,1.07003239798,0.583069587603,0.00876251577574,1.06970052667
+309,5.150000000,pose2_to_pose3_retreat,0.612029086771,9.08324546402e-05,1.07003221979,0.582599537438,0.008762568817,1.06970034934
+310,5.166666667,pose2_to_pose3_retreat,0.611535091565,9.07520479491e-05,1.07003226269,0.582105543068,0.00876249103106,1.06970038702
+311,5.183333333,pose2_to_pose3_retreat,0.611010743045,9.06983779546e-05,1.0700324717,0.581581196737,0.00876244479312,1.06970059642
+312,5.200000000,pose2_to_pose3_retreat,0.61045384198,9.07752161314e-05,1.07003227611,0.58102429258,0.00876251126036,1.06970040437
+313,5.216666667,pose2_to_pose3_retreat,0.609885510192,9.078544607e-05,1.07003228207,0.580455962973,0.00876252918718,1.06970041823
+314,5.233333333,pose2_to_pose3_retreat,0.609310573843,9.07818101113e-05,1.07003229904,0.579881026158,0.0087625241163,1.06970043879
+315,5.250000000,pose2_to_pose3_retreat,0.608731494476,9.08282478428e-05,1.07003226598,0.579301945262,0.00876256521242,1.06970040098
+316,5.266666667,pose2_to_pose3_retreat,0.608148177249,9.08784842965e-05,1.07003224927,0.578718627819,0.00876261458709,1.06970038058
+317,5.283333333,pose2_to_pose3_retreat,0.607557286696,9.08549281804e-05,1.0700323096,0.57812773796,0.00876259357173,1.06970044669
+318,5.300000000,pose2_to_pose3_retreat,0.606935391015,9.082667122e-05,1.07003235616,0.577505841379,0.00876256181544,1.06970048266
+319,5.316666667,pose2_to_pose3_retreat,0.606279908755,9.08240579923e-05,1.07003224098,0.576850359225,0.00876255968337,1.06970037084
+320,5.333333333,pose2_to_pose3_retreat,0.605590293417,9.07843740741e-05,1.07003230617,0.576160745252,0.00876252466753,1.06970043672
+321,5.350000000,pose2_to_pose3_retreat,0.604870664025,9.07632415653e-05,1.0700324011,0.575441115612,0.00876250290608,1.06970053562
+322,5.366666667,pose2_to_pose3_retreat,0.604121697495,9.07893650407e-05,1.07003236528,0.574692148975,0.00876252877659,1.06970050272
+323,5.383333333,pose2_to_pose3_retreat,0.603366771683,9.07419189727e-05,1.07003225739,0.573937224358,0.00876248535791,1.06970039442
+324,5.400000000,pose2_to_pose3_retreat,0.602616958713,9.07208958414e-05,1.07003214516,0.573187411756,0.00876246555671,1.06970028224
+325,5.416666667,pose2_to_pose3_retreat,0.601873579481,9.07396634109e-05,1.07003211682,0.572444032137,0.00876248304858,1.06970025481
+326,5.433333333,pose2_to_pose3_retreat,0.601136692865,9.07001736091e-05,1.07003222847,0.57170714573,0.00876244432152,1.06970036624
+327,5.450000000,pose2_to_pose3_retreat,0.600399894977,9.08031083119e-05,1.07003230978,0.570970346177,0.00876254157314,1.06970044855
+328,5.466666667,pose2_to_pose3_retreat,0.599649701509,9.09078086252e-05,1.07003233099,0.570220150886,0.00876263998428,1.06970046594
+329,5.483333333,pose2_to_pose3_retreat,0.598877807253,9.09136523629e-05,1.07003252806,0.569448257931,0.00876265018372,1.06970066128
+330,5.500000000,pose2_to_pose3_retreat,0.598086608166,9.08149030261e-05,1.07003239462,0.568657060352,0.00876255647649,1.06970052589
+331,5.516666667,pose2_to_pose3_retreat,0.597279172271,9.07831800756e-05,1.07003225402,0.567849623416,0.00876252120149,1.06970038471
+332,5.533333333,pose2_to_pose3_retreat,0.596481232952,9.0754515505e-05,1.07003243839,0.567051684784,0.00876249487673,1.06970056994
+333,5.550000000,pose2_to_pose3_retreat,0.59569701573,9.0769290589e-05,1.07003245224,0.566267468491,0.00876251287373,1.06970058483
+334,5.566666667,pose2_to_pose3_retreat,0.594935296724,9.07797077374e-05,1.07003232781,0.565505749396,0.00876252310291,1.06970046217
+335,5.583333333,pose2_to_pose3_retreat,0.594190895425,9.07759735941e-05,1.07003231507,0.56476134733,0.00876251685216,1.06970045146
+336,5.600000000,pose2_to_pose3_retreat,0.593459099492,9.08332458162e-05,1.07003234447,0.564029550182,0.00876256999459,1.06970048057
+337,5.616666667,pose2_to_pose3_retreat,0.592719255988,9.07413670612e-05,1.07003257002,0.563289707653,0.00876248130892,1.06970070282
+338,5.633333333,pose2_to_pose3_retreat,0.591968230141,9.08136215078e-05,1.07003221356,0.562538680781,0.00876255044891,1.06970035594
+339,5.650000000,pose2_to_pose3_retreat,0.591213590544,9.08413135767e-05,1.07003230792,0.561784040536,0.0087625756125,1.06970044161
+340,5.666666667,pose2_to_pose3_retreat,0.590461517317,9.07962888522e-05,1.07003240809,0.561031968459,0.00876253456775,1.06970054376
+341,5.683333333,pose2_to_pose3_retreat,0.589716981662,9.07806180346e-05,1.0700322957,0.560287432137,0.00876251656857,1.06970042959
+342,5.700000000,pose2_to_pose3_retreat,0.588996302759,9.08722608779e-05,1.07003213213,0.559566752355,0.00876260528694,1.0697002676
+343,5.716666667,pose2_to_pose3_retreat,0.588303286931,9.09732979771e-05,1.07003217096,0.558873736196,0.00876270524891,1.06970030763
+344,5.733333333,pose2_to_pose3_retreat,0.587625854929,9.09400284735e-05,1.07003228811,0.558196304586,0.00876267318177,1.06970042145
+345,5.750000000,pose2_to_pose3_retreat,0.586964059182,9.07959262992e-05,1.07003224312,0.557534510152,0.00876253355166,1.06970037715
+346,5.766666667,pose2_to_pose3_retreat,0.586316387014,9.08208879458e-05,1.07003241647,0.556886837309,0.00876255637053,1.06970055613
+347,5.783333333,pose2_to_pose3_retreat,0.58567957928,9.07214279087e-05,1.07003237249,0.556250032451,0.00876246613657,1.06970049802
+348,5.800000000,pose2_to_pose3_retreat,0.585054743306,9.08837958547e-05,1.07003244737,0.555625193219,0.00876261761181,1.06970057754
+349,5.816666667,pose2_to_pose3_retreat,0.584450084459,9.08257236491e-05,1.0700323081,0.555020535749,0.00876256410113,1.0697004335
+350,5.833333333,pose2_to_pose3_retreat,0.583869508041,9.07461672947e-05,1.07003230522,0.554439960801,0.00876248965258,1.06970043337
+351,5.850000000,pose2_to_pose3_retreat,0.583313490348,9.07059884253e-05,1.07003232406,0.553883943774,0.00876245196961,1.06970045842
+352,5.866666667,pose2_to_pose3_retreat,0.582776876036,9.07352933653e-05,1.07003225596,0.553347328813,0.00876247929787,1.06970039614
+353,5.883333333,pose2_to_pose3_retreat,0.58225466098,9.08060752059e-05,1.07003217752,0.552825111444,0.00876254224799,1.06970031833
+354,5.900000000,pose2_to_pose3_retreat,0.581744915673,9.07908295118e-05,1.07003220786,0.552315364677,0.00876252174975,1.06970034109
+355,5.916666667,pose2_to_pose3_retreat,0.581250598427,9.0632608551e-05,1.07003220905,0.551821051961,0.00876237889178,1.06970034192
+356,5.933333333,pose2_to_pose3_retreat,0.580785438296,9.07738143744e-05,1.07003219942,0.551355891401,0.00876251886659,1.06970033815
+357,5.950000000,pose2_to_pose3_retreat,0.580351057154,9.06033250703e-05,1.07003246182,0.550921511267,0.00876235132683,1.06970058813
+358,5.966666667,pose2_to_pose3_retreat,0.579946737701,9.07770678834e-05,1.07003216487,0.550517188691,0.00876251471785,1.06970029845
+359,5.983333333,pose2_to_pose3_retreat,0.57956593843,9.07252357747e-05,1.07003222301,0.550136389997,0.00876246500945,1.06970036103
+360,6.000000000,pose2_to_pose3_retreat,0.579206161914,9.07410433979e-05,1.07003226836,0.549776614173,0.00876248302395,1.06970040233
+361,6.016666667,pose2_to_pose3_retreat,0.578859912765,9.07674235239e-05,1.07003222152,0.549430364891,0.00876250887629,1.06970035329
+362,6.033333333,pose2_to_pose3_retreat,0.5785271908,9.07578241189e-05,1.0700322068,0.549097641806,0.008762495576,1.06970034099
+363,6.050000000,pose2_to_pose3_retreat,0.578219511275,9.08471891272e-05,1.07003222613,0.548789960232,0.00876257781551,1.06970035597
+364,6.066666667,pose2_to_pose3_retreat,0.577934964791,9.0699320415e-05,1.07003225619,0.548505415543,0.00876243597057,1.06970038416
+365,6.083333333,pose2_to_pose3_retreat,0.577671187511,9.07122471014e-05,1.0700324462,0.548241639258,0.00876245245042,1.06970057882
+366,6.100000000,pose2_to_pose3_retreat,0.577428423848,9.07779672137e-05,1.07003247691,0.547998876255,0.00876252024453,1.06970060529
+367,6.116666667,pose2_to_pose3_retreat,0.577208765468,9.07235562826e-05,1.07003228307,0.547779216766,0.00876246217861,1.06970041442
+368,6.133333333,pose2_to_pose3_retreat,0.577007206956,9.06848955613e-05,1.07003218422,0.547577659554,0.00876242829886,1.06970032514
+369,6.150000000,pose2_to_pose3_retreat,0.576824751834,9.07919772292e-05,1.07003223194,0.547395204765,0.00876253659873,1.06970037527
+370,6.166666667,pose2_to_pose3_retreat,0.576663291122,9.08612354978e-05,1.07003230577,0.547233743621,0.00876260425026,1.06970044542
+371,6.183333333,pose2_to_pose3_retreat,0.576519248786,9.07634761658e-05,1.07003233968,0.547089701606,0.00876250749672,1.06970047734
+372,6.200000000,pose2_to_pose3_retreat,0.576390626253,9.07428323e-05,1.07003243093,0.546961078078,0.00876248346715,1.0697005682
+373,6.216666667,pose2_to_pose3_retreat,0.576273900384,9.0772719249e-05,1.07003212603,0.546844352276,0.00876251354014,1.06970026238
+374,6.233333333,pose2_to_pose3_retreat,0.576168551011,9.09885400361e-05,1.07003227926,0.546738998918,0.00876271562547,1.06970041003
+375,6.250000000,pose2_to_pose3_retreat,0.576074320408,9.08644409622e-05,1.07003239632,0.546644771263,0.00876260167663,1.06970053141
+376,6.266666667,pose2_to_pose3_retreat,0.575991279146,9.0771832529e-05,1.07003237787,0.546561731502,0.00876251412451,1.06970051222
+377,6.283333333,pose2_to_pose3_retreat,0.575920605129,9.07439689112e-05,1.07003239888,0.546491056437,0.00876248256701,1.06970052955
+378,6.300000000,pose2_to_pose3_retreat,0.575861080893,9.07318498079e-05,1.0700323525,0.54643153223,0.008762470698,1.06970048709
+379,6.316666667,pose2_to_pose3_retreat,0.575812903219,9.07858651558e-05,1.07003226681,0.546383355233,0.00876252709766,1.06970040364
+380,6.333333333,pose2_to_pose3_retreat,0.57577436515,9.07702214787e-05,1.07003244293,0.546344817231,0.00876251132952,1.06970057047
+381,6.350000000,pose2_to_pose3_retreat,0.57574474569,9.07315089495e-05,1.07003221379,0.546315196694,0.00876246925919,1.06970034914
+382,6.366666667,pose2_to_pose3_retreat,0.575722354371,9.07018950032e-05,1.07003234336,0.546292807294,0.00876244581719,1.06970046988
+383,6.383333333,pose2_to_pose3_retreat,0.575705617183,9.08101256599e-05,1.07003234728,0.546276068852,0.00876254993007,1.06970047756
+384,6.400000000,pose2_to_pose3_retreat,0.575693414078,9.07887011647e-05,1.07003237011,0.546263865832,0.00876252895781,1.06970050465
+385,6.416666667,pose2_to_pose3_retreat,0.575684316799,9.05983007972e-05,1.07003244633,0.54625477086,0.00876234643711,1.06970058226
+386,6.433333333,pose2_to_pose3_retreat,0.575677816237,9.07051259048e-05,1.07003229002,0.546248269488,0.00876245044962,1.06970042417
+387,6.450000000,pose2_to_pose3_retreat,0.575673235873,9.07455556685e-05,1.07003237261,0.546243688424,0.00876248842689,1.06970050472
+388,6.466666667,pose2_to_pose3_retreat,0.575670428285,9.07317158866e-05,1.07003261972,0.546240880313,0.00876247273964,1.06970074982
+389,6.483333333,pose2_to_pose3_retreat,0.575668984229,9.07126891948e-05,1.07003266535,0.546239436107,0.00876245317218,1.06970079471
+390,6.500000000,pose2_to_pose3_retreat,0.575668493995,9.06980392132e-05,1.07003262482,0.546238945902,0.00876243862024,1.06970075412
+391,6.516666667,pose2_to_pose3_retreat,0.575668384143,9.0694756438e-05,1.07003261573,0.546238836057,0.00876243535943,1.06970074502
+392,6.533333333,pose2_to_pose3_retreat,0.575668362592,9.06941124035e-05,1.07003261395,0.546238814507,0.00876243471971,1.06970074323
+393,6.550000000,pose2_to_pose3_retreat,0.575667963807,9.06821952459e-05,1.07003258098,0.546238415746,0.0087624228823,1.06970071021
+394,6.566666667,pose2_to_pose3_retreat,0.575667658655,9.06730761849e-05,1.07003255575,0.546238110613,0.00876241382427,1.06970068494
+395,6.583333333,pose2_to_pose3_retreat,0.5756674104,9.06656574164e-05,1.07003253522,0.546237862373,0.00876240645515,1.06970066439
+396,6.600000000,pose2_to_pose3_retreat,0.575666991417,9.06531366669e-05,1.07003250058,0.546237443415,0.00876239401819,1.06970062969
+397,6.616666667,pose2_to_pose3_retreat,0.575666737871,9.06455597857e-05,1.07003247961,0.546237189884,0.00876238649202,1.0697006087
+398,6.633333333,pose2_to_pose3_retreat,0.575666656796,9.06431369917e-05,1.07003247291,0.546237108815,0.00876238408544,1.06970060198
+399,6.650000000,pose2_to_pose3_retreat,0.575666599588,9.06414273858e-05,1.07003246818,0.546237051609,0.00876238238727,1.06970059725
+400,6.666666667,pose2_to_pose3_retreat,0.575666533039,9.06394386594e-05,1.07003246267,0.546236985065,0.00876238041186,1.06970059174
+401,6.683333333,pose2_to_pose3_retreat,0.575666315523,9.06440972981e-05,1.07003244982,0.546236767542,0.00876238502373,1.06970057826
+402,6.700000000,pose2_to_pose3_retreat,0.575666048607,9.06541561532e-05,1.07003243605,0.54623650061,0.00876239499008,1.06970056349
+403,6.716666667,pose2_to_pose3_retreat,0.575665982179,9.06566595049e-05,1.07003243262,0.546236434178,0.00876239747041,1.06970055981
+404,6.733333333,pose2_to_pose3_retreat,0.575665814312,9.06629856387e-05,1.07003242396,0.546236266301,0.00876240373837,1.06970055052
+405,6.750000000,pose2_to_pose3_retreat,0.575665734481,9.0665994118e-05,1.07003241985,0.546236186465,0.00876240671918,1.0697005461
+406,6.766666667,pose2_to_pose3_retreat,0.575665442073,9.06770136057e-05,1.07003240476,0.54623589404,0.00876241763733,1.06970052992
+407,6.783333333,pose2_to_pose3_retreat,0.57566515098,9.06879835666e-05,1.07003238974,0.546235602929,0.0087624285064,1.06970051381
+408,6.800000000,pose2_to_pose3_retreat,0.575664865414,9.06972603629e-05,1.07003237523,0.546235317391,0.00876243783956,1.06970049829
+409,6.816666667,pose2_to_pose3_retreat,0.57566469101,9.06668490598e-05,1.07003237168,0.546235144095,0.0087624112366,1.06970049593
+410,6.833333333,pose2_to_pose3_retreat,0.575664654962,9.06605633025e-05,1.07003237095,0.546235108276,0.00876240573799,1.06970049544
+411,6.850000000,pose2_to_pose3_retreat,0.575664643382,9.06585441408e-05,1.07003237071,0.54623509677,0.00876240397169,1.06970049528
+412,6.866666667,pose2_to_pose3_retreat,0.575664614828,9.06535650481e-05,1.07003237013,0.546235068397,0.00876239961612,1.06970049489
+413,6.883333333,pose2_to_pose3_retreat,0.575664531264,9.06389938971e-05,1.07003236843,0.546234985365,0.00876238686968,1.06970049376
+414,6.900000000,pose2_to_pose3_retreat,0.575664387497,9.05506855267e-05,1.07003226898,0.546234842982,0.00876230337513,1.06970039741
+415,6.916666667,pose2_to_pose3_retreat,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571876,1.06970035246

Part2/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_02/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c857405d56341bfbf441259d8cb823423e6c3116d5d0507612f50d3432724282
+size 26396220

Part2/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_02/simulation_data.csv

@@ -0,0 +1,418 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+1,0.016666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+2,0.033333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+3,0.050000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+4,0.066666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+5,0.083333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+6,0.100000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+7,0.116666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+8,0.133333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+9,0.150000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+10,0.166666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+11,0.183333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+12,0.200000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+13,0.216666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+14,0.233333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+15,0.250000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+16,0.266666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+17,0.283333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+18,0.300000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+19,0.316666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+20,0.333333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+21,0.350000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+22,0.366666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+23,0.383333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+24,0.400000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+25,0.416666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+26,0.433333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+27,0.450000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+28,0.466666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+29,0.483333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+30,0.500000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+31,0.516666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+32,0.533333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+33,0.550000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+34,0.566666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+35,0.583333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+36,0.600000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+37,0.616666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+38,0.633333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+39,0.650000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+40,0.666666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+41,0.683333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+42,0.700000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+43,0.716666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+44,0.733333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+45,0.750000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+46,0.766666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+47,0.783333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+48,0.800000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+49,0.816666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+50,0.833333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+51,0.850000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+52,0.866666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+53,0.883333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+54,0.900000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+55,0.916666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+56,0.933333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+57,0.950000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+58,0.966666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+59,0.983333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+60,1.000000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+61,1.016666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+62,1.033333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+63,1.050000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+64,1.066666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+65,1.083333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+66,1.100000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+67,1.116666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+68,1.133333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+69,1.150000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+70,1.166666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+71,1.183333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+72,1.200000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+73,1.216666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+74,1.233333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+75,1.250000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+76,1.266666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+77,1.283333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+78,1.300000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+79,1.316666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+80,1.333333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+81,1.350000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+82,1.366666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+83,1.383333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+84,1.400000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+85,1.416666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+86,1.433333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+87,1.450000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+88,1.466666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+89,1.483333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+90,1.500000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+91,1.516666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+92,1.533333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+93,1.550000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+94,1.566666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+95,1.583333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+96,1.600000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+97,1.616666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+98,1.633333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+99,1.650000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+100,1.666666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+101,1.683333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+102,1.700000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+103,1.716666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+104,1.733333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+105,1.750000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+106,1.766666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+107,1.783333333,pose1_to_pose2_press,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+108,1.800000000,pose1_to_pose2_press,0.575664428493,9.05805827133e-05,1.07003228807,0.546234883089,0.0087623302298,1.06970041579
+109,1.816666667,pose1_to_pose2_press,0.575664576701,9.06693031516e-05,1.07003236205,0.546235029391,0.00876241240126,1.0697004877
+110,1.833333333,pose1_to_pose2_press,0.575664770926,9.07167434299e-05,1.0700323523,0.546235222471,0.00876245604044,1.0697004801
+111,1.850000000,pose1_to_pose2_press,0.575664849673,9.07359779864e-05,1.07003234835,0.546235300755,0.00876247373386,1.06970047701
+112,1.866666667,pose1_to_pose2_press,0.575664875464,9.07422773336e-05,1.07003234705,0.546235326393,0.00876247952848,1.069700476
+113,1.883333333,pose1_to_pose2_press,0.575665068539,9.07549502232e-05,1.07003235069,0.546235519064,0.00876249086418,1.06970048055
+114,1.900000000,pose1_to_pose2_press,0.575666097179,9.06696680126e-05,1.07003242911,0.546236548799,0.00876240927501,1.06970055838
+115,1.916666667,pose1_to_pose2_press,0.575668464908,9.06941489938e-05,1.07003245961,0.546238917435,0.00876243687817,1.06970059004
+116,1.933333333,pose1_to_pose2_press,0.575675582974,9.08109810526e-05,1.07003234167,0.546246033893,0.00876254848054,1.06970047799
+117,1.950000000,pose1_to_pose2_press,0.575689018698,9.08264268808e-05,1.07003237435,0.546259469053,0.0087625619773,1.06970050975
+118,1.966666667,pose1_to_pose2_press,0.575712516429,9.0830331458e-05,1.0700321572,0.546282966879,0.00876256573341,1.06970028024
+119,1.983333333,pose1_to_pose2_press,0.575746589964,9.08587311828e-05,1.07003230423,0.546317041263,0.0087625975233,1.0697004404
+120,2.000000000,pose1_to_pose2_press,0.575791514039,9.07813237803e-05,1.07003249544,0.546361966037,0.00876252237149,1.06970062851
+121,2.016666667,pose1_to_pose2_press,0.575845646038,9.08278170052e-05,1.07003259483,0.546416098145,0.00876256924416,1.06970072807
+122,2.033333333,pose1_to_pose2_press,0.575908603385,9.06752112929e-05,1.07003234157,0.546479056574,0.00876242034392,1.0697004756
+123,2.050000000,pose1_to_pose2_press,0.575978989968,9.080851495e-05,1.07003244891,0.546549440999,0.00876254623283,1.06970058053
+124,2.066666667,pose1_to_pose2_press,0.576057501098,9.08189301649e-05,1.07003235911,0.546627950483,0.00876255096034,1.06970048806
+125,2.083333333,pose1_to_pose2_press,0.576148375987,9.07202302972e-05,1.07003226793,0.546718826992,0.00876245765495,1.06970039413
+126,2.100000000,pose1_to_pose2_press,0.576251906145,9.07269854881e-05,1.0700322884,0.546822359024,0.00876247113465,1.06970042414
+127,2.116666667,pose1_to_pose2_press,0.576369952305,9.08038118847e-05,1.07003227746,0.546940403959,0.00876254349842,1.06970040512
+128,2.133333333,pose1_to_pose2_press,0.576502432662,9.07823684093e-05,1.07003231993,0.54707288369,0.00876251978173,1.06970044367
+129,2.150000000,pose1_to_pose2_press,0.576649654744,9.08081247559e-05,1.07003234368,0.547220105618,0.00876254523443,1.06970047314
+130,2.166666667,pose1_to_pose2_press,0.576809058312,9.08132224867e-05,1.07003234313,0.547379509657,0.00876255195806,1.06970047318
+131,2.183333333,pose1_to_pose2_press,0.576980835328,9.06979302256e-05,1.07003231652,0.547551288092,0.00876244146613,1.06970044618
+132,2.200000000,pose1_to_pose2_press,0.577168150348,9.06780393278e-05,1.07003213863,0.547738602717,0.00876242069657,1.06970028024
+133,2.216666667,pose1_to_pose2_press,0.577372419787,9.08320460083e-05,1.07003195896,0.547942868945,0.00876256371669,1.06970009821
+134,2.233333333,pose1_to_pose2_press,0.577596819317,9.07988483716e-05,1.07003233714,0.548167270388,0.00876253655044,1.06970046419
+135,2.250000000,pose1_to_pose2_press,0.577844316893,9.08534477683e-05,1.07003220699,0.548414767406,0.00876258976834,1.06970034742
+136,2.266666667,pose1_to_pose2_press,0.57811549184,9.06942354535e-05,1.07003239049,0.548685944138,0.00876243637674,1.06970052471
+137,2.283333333,pose1_to_pose2_press,0.578410525764,9.07188341999e-05,1.07003230272,0.548980977316,0.0087624583119,1.06970043337
+138,2.300000000,pose1_to_pose2_press,0.578726909355,9.07901730144e-05,1.07003232251,0.54929736066,0.00876252858866,1.06970044723
+139,2.316666667,pose1_to_pose2_press,0.579064182333,9.07880250369e-05,1.07003243845,0.549634633921,0.00876252736929,1.06970056231
+140,2.333333333,pose1_to_pose2_press,0.579419796306,9.07546064386e-05,1.07003236204,0.549990248365,0.00876249572837,1.06970049058
+141,2.350000000,pose1_to_pose2_press,0.579793795348,9.08212396094e-05,1.07003221124,0.550364246221,0.00876255852105,1.06970034446
+142,2.366666667,pose1_to_pose2_press,0.58018624787,9.08843606955e-05,1.0700321958,0.550756696792,0.00876261512094,1.06970033164
+143,2.383333333,pose1_to_pose2_press,0.580597254424,9.072074837e-05,1.07003222432,0.55116770555,0.00876245894874,1.06970035903
+144,2.400000000,pose1_to_pose2_press,0.581027228525,9.0759659552e-05,1.0700323368,0.551597680525,0.00876250086527,1.06970047254
+145,2.416666667,pose1_to_pose2_press,0.58147705813,9.08907338242e-05,1.07003247088,0.552047508672,0.00876262679844,1.06970060147
+146,2.433333333,pose1_to_pose2_press,0.581950756643,9.06977737394e-05,1.07003267725,0.552521209192,0.00876244071954,1.06970080963
+147,2.450000000,pose1_to_pose2_press,0.582450253232,9.08165003286e-05,1.07003219129,0.553020703294,0.00876255104287,1.0697003246
+148,2.466666667,pose1_to_pose2_press,0.582977549908,9.08741783197e-05,1.07003227114,0.553547998547,0.00876260393938,1.06970040568
+149,2.483333333,pose1_to_pose2_press,0.583530715023,9.08105174413e-05,1.07003216598,0.554101165139,0.00876254519451,1.06970029785
+150,2.500000000,pose1_to_pose2_press,0.584104605927,9.06879193832e-05,1.07003226351,0.5546750585,0.00876243087545,1.06970039381
+151,2.516666667,pose1_to_pose2_press,0.584690195518,9.07140727908e-05,1.07003224887,0.555260647105,0.00876245383716,1.06970038318
+152,2.533333333,pose1_to_pose2_press,0.585284787362,9.07561197607e-05,1.07003220323,0.555855238318,0.00876249376864,1.06970033816
+153,2.550000000,pose1_to_pose2_press,0.585889555358,9.07610259929e-05,1.07003226378,0.556460006544,0.00876249942729,1.06970039796
+154,2.566666667,pose1_to_pose2_press,0.586509888723,9.07724298731e-05,1.0700323421,0.55708033979,0.00876251029369,1.06970047281
+155,2.583333333,pose1_to_pose2_press,0.587148863127,9.07666540706e-05,1.07003234957,0.557719314897,0.00876250656009,1.06970047125
+156,2.600000000,pose1_to_pose2_press,0.587809463391,9.08049671171e-05,1.07003226337,0.558379914376,0.00876254253052,1.06970039333
+157,2.616666667,pose1_to_pose2_press,0.588487116416,9.08501394817e-05,1.07003244653,0.559057567322,0.00876258754493,1.06970057938
+158,2.633333333,pose1_to_pose2_press,0.589178803528,9.09148384159e-05,1.07003247218,0.55974925352,0.00876264895587,1.06970060017
+159,2.650000000,pose1_to_pose2_press,0.589884762481,9.10074347908e-05,1.07003209927,0.560455210607,0.00876273557092,1.06970023639
+160,2.666666667,pose1_to_pose2_press,0.5906083773,9.08444471201e-05,1.07003240621,0.561178828127,0.00876258152904,1.06970053766
+161,2.683333333,pose1_to_pose2_press,0.591337575671,9.07337165277e-05,1.0700321934,0.561908027845,0.00876247520559,1.06970032054
+162,2.700000000,pose1_to_pose2_press,0.592072197199,9.07407188856e-05,1.07003214975,0.562642648785,0.00876248070567,1.06970028978
+163,2.716666667,pose1_to_pose2_press,0.592821369582,9.0803225922e-05,1.07003234693,0.56339182181,0.00876254535397,1.069700486
+164,2.733333333,pose1_to_pose2_press,0.593576606097,9.08236146701e-05,1.07003223034,0.564147057695,0.00876256354624,1.06970036788
+165,2.750000000,pose1_to_pose2_press,0.594332930068,9.0777681407e-05,1.07003209168,0.564903380811,0.00876251459456,1.06970022621
+166,2.766666667,pose1_to_pose2_press,0.595090337251,9.08110350625e-05,1.07003210055,0.56566078817,0.00876254843208,1.06970023213
+167,2.783333333,pose1_to_pose2_press,0.595843640542,9.08710646455e-05,1.07003216763,0.566414091943,0.00876261014557,1.06970030052
+168,2.800000000,pose1_to_pose2_press,0.596595671616,9.07734476244e-05,1.0700323806,0.567166124021,0.00876251576505,1.06970050905
+169,2.816666667,pose1_to_pose2_press,0.59734702691,9.07450707351e-05,1.07003247728,0.567917480533,0.00876249121038,1.06970059772
+170,2.833333333,pose1_to_pose2_press,0.598099952175,9.08193504831e-05,1.0700322186,0.568670402263,0.00876255391457,1.06970035002
+171,2.850000000,pose1_to_pose2_press,0.598862474762,9.07792114528e-05,1.07003218838,0.569432925184,0.00876251519232,1.06970032721
+172,2.866666667,pose1_to_pose2_press,0.599636159456,9.09145653149e-05,1.07003265606,0.57020660895,0.00876264703446,1.06970078552
+173,2.883333333,pose1_to_pose2_press,0.600410719492,9.08646099756e-05,1.07003230407,0.570981170494,0.00876260227614,1.06970043571
+174,2.900000000,pose1_to_pose2_press,0.601185101817,9.08085929958e-05,1.07003229822,0.571755553989,0.00876255036555,1.06970043347
+175,2.916666667,pose1_to_pose2_press,0.601952835516,9.06792924877e-05,1.07003235743,0.572523287769,0.00876242100307,1.06970048385
+176,2.933333333,pose1_to_pose2_press,0.60271021639,9.0664894208e-05,1.07003236418,0.573280668559,0.00876240625653,1.06970048906
+177,2.950000000,pose1_to_pose2_press,0.603449276092,9.07223922285e-05,1.07003235938,0.574019727196,0.00876246021462,1.06970048628
+178,2.966666667,pose1_to_pose2_press,0.604172501712,9.07410523815e-05,1.07003248347,0.574742952725,0.00876247854755,1.06970060998
+179,2.983333333,pose1_to_pose2_press,0.604882718833,9.07646742042e-05,1.07003247315,0.575453169893,0.00876250210142,1.06970059384
+180,3.000000000,pose1_to_pose2_press,0.605577817356,9.082810956e-05,1.07003226322,0.576148268045,0.00876256429887,1.06970038455
+181,3.016666667,pose1_to_pose2_press,0.606263000603,9.08494044226e-05,1.07003220589,0.576833452,0.00876258852069,1.069700341
+182,3.033333333,pose1_to_pose2_press,0.606944866618,9.0830636336e-05,1.07003221355,0.577515317294,0.00876256723053,1.06970034669
+183,3.050000000,pose1_to_pose2_press,0.60761408324,9.09204822015e-05,1.07003218598,0.578184532932,0.00876265381614,1.06970032134
+184,3.066666667,pose1_to_pose2_press,0.608264498627,9.07563054646e-05,1.07003198838,0.578834950643,0.00876249736556,1.06970011961
+185,3.083333333,pose1_to_pose2_press,0.608890969982,9.07946712146e-05,1.07003243787,0.579461422944,0.00876253885005,1.06970056679
+186,3.100000000,pose1_to_pose2_press,0.609490928505,9.08514878118e-05,1.07003224087,0.580061379494,0.00876258925867,1.06970037736
+187,3.116666667,pose1_to_pose2_press,0.610056964797,9.07546391347e-05,1.07003231464,0.580627416938,0.00876249604434,1.06970044408
+188,3.133333333,pose1_to_pose2_press,0.610594274527,9.07580494673e-05,1.07003237113,0.581164727358,0.00876250161014,1.06970049582
+189,3.150000000,pose1_to_pose2_press,0.611110042874,9.07504773694e-05,1.07003229935,0.581680496069,0.00876249548558,1.06970042966
+190,3.166666667,pose1_to_pose2_press,0.611620460712,9.0730633521e-05,1.07003226136,0.582190913507,0.00876247446659,1.06970039647
+191,3.183333333,pose1_to_pose2_press,0.612133216259,9.0891808731e-05,1.07003247353,0.582703666341,0.0087626258676,1.06970059388
+192,3.200000000,pose1_to_pose2_press,0.612645320985,9.08098950488e-05,1.07003221095,0.583215772471,0.00876254921387,1.06970034431
+193,3.216666667,pose1_to_pose2_press,0.613150497352,9.08839786268e-05,1.07003234995,0.583720946582,0.00876261537193,1.06970047586
+194,3.233333333,pose1_to_pose2_press,0.61363276531,9.0808883663e-05,1.07003236426,0.584203215585,0.0087625438097,1.06970048842
+195,3.250000000,pose1_to_pose2_press,0.614084251323,9.08677791618e-05,1.07003226298,0.584654702881,0.00876260714478,1.06970038695
+196,3.266666667,pose1_to_pose2_press,0.614497416735,9.07519691006e-05,1.070032096,0.585067869114,0.00876249482208,1.06970023293
+197,3.283333333,pose1_to_pose2_press,0.614886495546,9.08057773599e-05,1.07003223497,0.58545694687,0.00876254519229,1.06970037041
+198,3.300000000,pose1_to_pose2_press,0.615256156147,9.08843639756e-05,1.07003235155,0.585826605809,0.00876261807746,1.06970048081
+199,3.316666667,pose1_to_pose2_press,0.615610339995,9.08653632281e-05,1.07003230041,0.586180789113,0.00876259743932,1.0697004294
+200,3.333333333,pose1_to_pose2_press,0.615950340912,9.078176331e-05,1.07003225189,0.586520791223,0.00876251826938,1.06970038382
+201,3.350000000,pose1_to_pose2_press,0.616275929342,9.07774435993e-05,1.07003233994,0.586846380732,0.00876251777809,1.06970047038
+202,3.366666667,pose1_to_pose2_press,0.616581564825,9.0888136611e-05,1.07003232186,0.587152014935,0.0087626243425,1.06970045268
+203,3.383333333,pose1_to_pose2_press,0.616862562612,9.08447097595e-05,1.0700321841,0.587433012769,0.00876258157757,1.06970032164
+204,3.400000000,pose1_to_pose2_press,0.617121426821,9.07375512304e-05,1.07003205764,0.58769187721,0.00876247538948,1.06970019659
+205,3.416666667,pose1_to_pose2_press,0.617358167411,9.08337615624e-05,1.07003239374,0.58792861767,0.00876257115889,1.06970052837
+206,3.433333333,pose1_to_pose2_press,0.617573630534,9.08227508846e-05,1.07003248911,0.58814408102,0.00876256061976,1.06970061212
+207,3.450000000,pose1_to_pose2_press,0.617771283889,9.08111395024e-05,1.07003226786,0.588341733697,0.00876254739983,1.06970040512
+208,3.466666667,pose1_to_pose2_press,0.617952620212,9.07359902658e-05,1.07003224231,0.588523071114,0.0087624761413,1.06970038124
+209,3.483333333,pose1_to_pose2_press,0.61812007369,9.07559748609e-05,1.07003225414,0.588690524643,0.00876249645281,1.06970039344
+210,3.500000000,pose1_to_pose2_press,0.618273759801,9.08988209961e-05,1.07003216749,0.588844208948,0.00876263343125,1.0697003102
+211,3.516666667,pose1_to_pose2_press,0.618414036288,9.09007465571e-05,1.07003220356,0.588984485917,0.00876263650103,1.06970033239
+212,3.533333333,pose1_to_pose2_press,0.618541254176,9.07800776645e-05,1.07003208721,0.589111704633,0.00876251922956,1.06970022804
+213,3.550000000,pose1_to_pose2_press,0.618653652315,9.09298997921e-05,1.07003234854,0.589224102669,0.00876266848845,1.06970048136
+214,3.566666667,pose1_to_pose2_press,0.618752064115,9.08038725441e-05,1.07003242191,0.589322514631,0.00876254335837,1.06970056202
+215,3.583333333,pose1_to_pose2_press,0.61883579418,9.06802765565e-05,1.07003232935,0.589406245015,0.00876242073448,1.06970046532
+216,3.600000000,pose1_to_pose2_press,0.618906772819,9.07232197543e-05,1.07003233952,0.589477223571,0.00876246350784,1.06970046897
+217,3.616666667,pose1_to_pose2_press,0.618965960368,9.07299587028e-05,1.07003234506,0.589536411164,0.00876247034493,1.06970047562
+218,3.633333333,pose1_to_pose2_press,0.619016674203,9.08248273902e-05,1.07003241061,0.589587123839,0.00876256124757,1.06970054045
+219,3.650000000,pose1_to_pose2_press,0.619060128399,9.08522288989e-05,1.0700323871,0.58963057821,0.00876258934488,1.06970051605
+220,3.666666667,pose1_to_pose2_press,0.61909666204,9.0769242257e-05,1.07003221214,0.58966711348,0.00876251188935,1.06970034423
+221,3.683333333,pose1_to_pose2_press,0.619126695263,9.09647536284e-05,1.0700321745,0.589697143572,0.00876269652922,1.0697003075
+222,3.700000000,pose1_to_pose2_press,0.619149868698,9.08124755729e-05,1.07003193425,0.589720318996,0.00876255153401,1.06970007783
+223,3.716666667,pose1_to_pose2_press,0.619167312416,9.07366989e-05,1.0700322096,0.589737763549,0.00876247818717,1.06970033785
+224,3.733333333,pose1_to_pose2_press,0.619179602189,9.06433915887e-05,1.07003230311,0.589750054307,0.0087623883861,1.06970043418
+225,3.750000000,pose1_to_pose2_press,0.619187850602,9.07126545463e-05,1.07003238198,0.589758302317,0.00876245630511,1.06970051404
+226,3.766666667,pose1_to_pose2_press,0.619193383563,9.08576948158e-05,1.07003245701,0.589763834205,0.00876259760912,1.06970058765
+227,3.783333333,pose1_to_pose2_press,0.619197038078,9.08486777222e-05,1.07003254683,0.589767489084,0.00876258967513,1.06970067329
+228,3.800000000,pose1_to_pose2_press,0.61919953115,9.08297985964e-05,1.07003261299,0.589769982535,0.00876257196607,1.0697007362
+229,3.816666667,pose1_to_pose2_press,0.619201040941,9.08023541701e-05,1.07003252364,0.589771492652,0.00876254566667,1.06970064791
+230,3.833333333,pose1_to_pose2_press,0.619202410632,9.07630244089e-05,1.07003232593,0.589772862726,0.00876250776909,1.06970045389
+231,3.850000000,pose1_to_pose2_press,0.619203521043,9.07311396746e-05,1.07003216565,0.589773973449,0.00876247704542,1.06970029659
+232,3.866666667,pose1_to_pose2_press,0.619204104178,9.07184060914e-05,1.07003208445,0.589774556673,0.00876246467208,1.06970021695
+233,3.883333333,pose1_to_pose2_press,0.619204382182,9.07390347872e-05,1.07003206555,0.589774834231,0.00876248381164,1.06970019872
+234,3.900000000,pose1_to_pose2_press,0.619204540835,9.075080733e-05,1.07003205477,0.58977499263,0.00876249473435,1.06970018831
+235,3.916666667,pose1_to_pose2_press,0.619204737485,9.07653993004e-05,1.0700320414,0.589775188964,0.00876250827296,1.06970017541
+236,3.933333333,pose1_to_pose2_press,0.619205003199,9.07851160911e-05,1.07003202333,0.589775454253,0.00876252656644,1.06970015798
+237,3.950000000,pose1_to_pose2_press,0.619205236899,9.0802457307e-05,1.07003200745,0.589775687578,0.00876254265584,1.06970014265
+238,3.966666667,pose1_to_pose2_press,0.619205378023,9.08129291204e-05,1.07003199785,0.589775828476,0.00876255237171,1.06970013339
+239,3.983333333,pose1_to_pose2_press,0.619205404046,9.08148600885e-05,1.07003199608,0.589775854457,0.00876255416329,1.06970013168
+240,4.000000000,pose1_to_pose2_press,0.619205463098,9.08192418875e-05,1.07003199207,0.589775913414,0.00876255822878,1.06970012781
+241,4.016666667,pose1_to_pose2_press,0.619205491329,9.08213367527e-05,1.07003199015,0.5897759416,0.00876256017242,1.06970012596
+242,4.033333333,pose1_to_pose2_press,0.619205509948,9.08227183241e-05,1.07003198888,0.589775960189,0.00876256145426,1.06970012474
+243,4.050000000,pose1_to_pose2_press,0.619205554265,9.08260068091e-05,1.07003198587,0.589776004435,0.00876256450535,1.06970012183
+244,4.066666667,pose1_to_pose2_press,0.619205648468,9.08329969286e-05,1.07003197947,0.589776098487,0.00876257099087,1.06970011565
+245,4.083333333,pose1_to_pose2_press,0.619205775288,9.08424073299e-05,1.07003197085,0.589776225104,0.00876257972196,1.06970010733
+246,4.100000000,pose1_to_pose2_press,0.619205922434,9.08533259727e-05,1.07003196084,0.589776372013,0.00876258985241,1.06970009768
+247,4.116666667,pose1_to_pose2_press,0.619206127289,9.0846444407e-05,1.07003195114,0.589776576901,0.00876258312222,1.06970008899
+248,4.133333333,pose1_to_pose2_press,0.619206311408,9.0826468038e-05,1.07003194505,0.589776761274,0.00876256406175,1.06970008416
+249,4.150000000,pose1_to_pose2_press,0.619206427135,9.08139119267e-05,1.07003194122,0.589776877161,0.00876255208133,1.06970008112
+250,4.166666667,pose1_to_pose2_press,0.619206436124,9.08129365777e-05,1.07003194093,0.589776886163,0.0087625511507,1.06970008088
+251,4.183333333,pose1_to_pose2_press,0.619206616015,9.07934189521e-05,1.07003193498,0.589777066302,0.00876253252795,1.06970007615
+252,4.200000000,pose1_to_pose2_press,0.619206690718,9.07853138312e-05,1.07003193251,0.589777141109,0.00876252479445,1.06970007419
+253,4.216666667,pose1_to_pose2_press,0.619206852278,9.07686257562e-05,1.07003193382,0.58977730285,0.00876250869986,1.06970007495
+254,4.233333333,pose1_to_pose2_press,0.619207035078,9.07523366766e-05,1.07003195584,0.589777485724,0.00876249243403,1.06970009127
+255,4.250000000,pose1_to_pose2_press,0.619207137032,9.07342764972e-05,1.07003205439,0.589777587535,0.00876247414926,1.06970019675
+256,4.266666667,pose2_hold,0.619207137032,9.07342764972e-05,1.07003205439,0.589777587537,0.00876247414945,1.06970019675
+257,4.283333333,pose2_hold,0.619207137032,9.07342764972e-05,1.07003205439,0.589777587537,0.00876247414952,1.06970019675
+258,4.300000000,pose2_hold,0.619207137032,9.07342764972e-05,1.07003205439,0.589777587537,0.00876247414955,1.06970019675
+259,4.316666667,pose2_hold,0.619207137032,9.07342764972e-05,1.07003205439,0.589777587538,0.00876247414953,1.06970019675
+260,4.333333333,pose2_hold,0.619207137032,9.07342764972e-05,1.07003205439,0.589777587538,0.00876247414952,1.06970019675
+261,4.350000000,pose2_hold,0.619207137032,9.07342764972e-05,1.07003205439,0.589777587538,0.00876247414977,1.06970019675
+262,4.366666667,pose2_hold,0.619207137032,9.07342764972e-05,1.07003205439,0.589777587538,0.00876247414963,1.06970019675
+263,4.383333333,pose2_hold,0.619207137032,9.07342764972e-05,1.07003205439,0.589777587538,0.00876247414989,1.06970019675
+264,4.400000000,pose2_hold,0.619207137032,9.07342764972e-05,1.07003205439,0.589777587538,0.00876247414974,1.06970019675
+265,4.416666667,pose2_hold,0.619207137032,9.07342764972e-05,1.07003205439,0.589777587538,0.00876247414996,1.06970019675
+266,4.433333333,pose2_hold,0.619207137032,9.07342764972e-05,1.07003205439,0.589777587538,0.00876247414999,1.06970019675
+267,4.450000000,pose2_hold,0.619207137032,9.07342764972e-05,1.07003205439,0.589777587538,0.00876247415002,1.06970019675
+268,4.466666667,pose2_hold,0.619207137032,9.07342764972e-05,1.07003205439,0.589777587538,0.00876247415005,1.06970019675
+269,4.483333333,pose2_hold,0.619207137032,9.07342764972e-05,1.07003205439,0.589777587538,0.00876247415008,1.06970019675
+270,4.500000000,pose2_hold,0.619207137032,9.07342764972e-05,1.07003205439,0.589777587538,0.00876247415011,1.06970019675
+271,4.516666667,pose2_hold,0.619207137032,9.07342764972e-05,1.07003205439,0.589777587538,0.00876247415014,1.06970019675
+272,4.533333333,pose2_to_pose3_retreat,0.619207137032,9.07342764972e-05,1.07003205439,0.589777587539,0.00876247414997,1.06970019675
+273,4.550000000,pose2_to_pose3_retreat,0.619207123489,9.07542401372e-05,1.07003205999,0.589777573679,0.00876249296761,1.06970020055
+274,4.566666667,pose2_to_pose3_retreat,0.619207114908,9.07668902057e-05,1.07003206354,0.589777564897,0.00876250489151,1.06970020296
+275,4.583333333,pose2_to_pose3_retreat,0.619207015652,9.07559340252e-05,1.07003210419,0.589777465954,0.00876249487663,1.0697002405
+276,4.600000000,pose2_to_pose3_retreat,0.619206955288,9.07425304473e-05,1.07003212889,0.589777405894,0.00876248244584,1.06970026375
+277,4.616666667,pose2_to_pose3_retreat,0.619206830484,9.07148183251e-05,1.07003217997,0.589777281717,0.00876245674496,1.06970031182
+278,4.633333333,pose2_to_pose3_retreat,0.619206563038,9.06977634841e-05,1.07003220704,0.589777014585,0.00876244066548,1.06970033655
+279,4.650000000,pose2_to_pose3_retreat,0.619205726373,9.07388121041e-05,1.07003210798,0.589776176603,0.00876247732873,1.06970023937
+280,4.666666667,pose2_to_pose3_retreat,0.619203929044,9.07303321263e-05,1.0700321629,0.589774380431,0.0087624728274,1.06970029556
+281,4.683333333,pose2_to_pose3_retreat,0.619197933467,9.07614353311e-05,1.07003229327,0.589768383926,0.00876250114979,1.06970043552
+282,4.700000000,pose2_to_pose3_retreat,0.619185865211,9.07907865205e-05,1.07003218314,0.589756316917,0.00876253466576,1.06970032325
+283,4.716666667,pose2_to_pose3_retreat,0.619163374177,9.08847759248e-05,1.07003217611,0.589733823057,0.00876261914606,1.06970031766
+284,4.733333333,pose2_to_pose3_retreat,0.619129841575,9.07580901006e-05,1.07003228197,0.589700293617,0.00876250311327,1.06970042174
+285,4.750000000,pose2_to_pose3_retreat,0.619084714142,9.07744311844e-05,1.07003229079,0.589655165075,0.00876251525793,1.06970042653
+286,4.766666667,pose2_to_pose3_retreat,0.619030022251,9.08415074246e-05,1.0700323934,0.589600472835,0.00876258096267,1.0697005266
+287,4.783333333,pose2_to_pose3_retreat,0.61896596731,9.0770972259e-05,1.07003228002,0.589536418138,0.00876251139225,1.06970041002
+288,4.800000000,pose2_to_pose3_retreat,0.618894426121,9.0754988119e-05,1.07003224676,0.589464876024,0.00876249204281,1.06970037208
+289,4.816666667,pose2_to_pose3_retreat,0.618814745063,9.07089797042e-05,1.07003218527,0.58938519573,0.00876244853175,1.06970031357
+290,4.833333333,pose2_to_pose3_retreat,0.618723825421,9.07096655209e-05,1.07003217411,0.589294276986,0.00876245245608,1.06970030862
+291,4.850000000,pose2_to_pose3_retreat,0.61862119155,9.08706404177e-05,1.070032351,0.589191641509,0.00876260770862,1.06970048049
+292,4.866666667,pose2_to_pose3_retreat,0.618504559041,9.08262971745e-05,1.07003235148,0.589075008798,0.0087625625164,1.06970047883
+293,4.883333333,pose2_to_pose3_retreat,0.618373154149,9.08746387995e-05,1.07003233838,0.588943605053,0.00876261480373,1.06970046981
+294,4.900000000,pose2_to_pose3_retreat,0.618225795546,9.08442630845e-05,1.07003221295,0.588796246074,0.00876258327293,1.06970035079
+295,4.916666667,pose2_to_pose3_retreat,0.618059905648,9.07420175276e-05,1.07003220257,0.58863035655,0.00876248206604,1.06970033793
+296,4.933333333,pose2_to_pose3_retreat,0.61787559591,9.08201903003e-05,1.07003230031,0.588446045909,0.00876255683766,1.06970043053
+297,4.950000000,pose2_to_pose3_retreat,0.617672801148,9.08120784239e-05,1.07003235142,0.588243251598,0.00876255014921,1.06970048158
+298,4.966666667,pose2_to_pose3_retreat,0.617452688572,9.07680724692e-05,1.07003234138,0.588023140536,0.00876251123868,1.06970047437
+299,4.983333333,pose2_to_pose3_retreat,0.617214534644,9.08488931106e-05,1.07003233259,0.587784986457,0.00876259141058,1.06970046692
+300,5.000000000,pose2_to_pose3_retreat,0.616959746641,9.09026561347e-05,1.07003233403,0.587530196311,0.00876263785096,1.0697004695
+301,5.016666667,pose2_to_pose3_retreat,0.616687927302,9.08963105588e-05,1.07003244275,0.587258376525,0.00876262960778,1.06970057616
+302,5.033333333,pose2_to_pose3_retreat,0.616391946593,9.07731027179e-05,1.07003234797,0.586962397943,0.00876251342565,1.06970048172
+303,5.050000000,pose2_to_pose3_retreat,0.616072250533,9.09016871843e-05,1.07003228746,0.586642699676,0.00876263465323,1.06970043086
+304,5.066666667,pose2_to_pose3_retreat,0.615727049448,9.08653990808e-05,1.07003230534,0.586297499406,0.00876260078713,1.06970044405
+305,5.083333333,pose2_to_pose3_retreat,0.615358317835,9.07986128895e-05,1.07003232113,0.585928769715,0.00876254014586,1.06970045579
+306,5.100000000,pose2_to_pose3_retreat,0.614965486165,9.07721445794e-05,1.07003238922,0.585535938762,0.00876251572222,1.06970052049
+307,5.116666667,pose2_to_pose3_retreat,0.614555779706,9.07414701134e-05,1.07003242795,0.585126232415,0.00876248513152,1.06970055755
+308,5.133333333,pose2_to_pose3_retreat,0.61412919189,9.07261090431e-05,1.07003226667,0.584699644903,0.00876247087352,1.06970040336
+309,5.150000000,pose2_to_pose3_retreat,0.6136814407,9.08199661437e-05,1.0700320703,0.584251892368,0.00876256008019,1.069700209
+310,5.166666667,pose2_to_pose3_retreat,0.613214376483,9.09805518803e-05,1.07003203479,0.583784826397,0.00876271493973,1.06970018034
+311,5.183333333,pose2_to_pose3_retreat,0.612728067239,9.0811490157e-05,1.07003222338,0.58329851808,0.00876254823517,1.06970034916
+312,5.200000000,pose2_to_pose3_retreat,0.612215302097,9.08646752747e-05,1.07003227453,0.582785751379,0.00876259662705,1.06970041282
+313,5.216666667,pose2_to_pose3_retreat,0.611672569068,9.08247185117e-05,1.07003224413,0.582243018825,0.00876255826339,1.06970038076
+314,5.233333333,pose2_to_pose3_retreat,0.611109564171,9.07098830509e-05,1.07003228445,0.58168001611,0.00876245059765,1.06970041501
+315,5.250000000,pose2_to_pose3_retreat,0.61052860415,9.06922772282e-05,1.07003237357,0.581099056669,0.00876243506684,1.0697005078
+316,5.266666667,pose2_to_pose3_retreat,0.609934417582,9.0790435741e-05,1.07003243054,0.580504868923,0.00876252933645,1.06970056785
+317,5.283333333,pose2_to_pose3_retreat,0.609335025716,9.08406707385e-05,1.07003244815,0.579905477436,0.00876258057404,1.06970057805
+318,5.300000000,pose2_to_pose3_retreat,0.608733322057,9.07262657535e-05,1.07003232337,0.579303775479,0.00876247214725,1.06970045811
+319,5.316666667,pose2_to_pose3_retreat,0.608120500651,9.08119290596e-05,1.07003255333,0.578690952932,0.00876255363471,1.06970068094
+320,5.333333333,pose2_to_pose3_retreat,0.607491927634,9.079935404e-05,1.07003233005,0.578062379451,0.00876253963722,1.06970046104
+321,5.350000000,pose2_to_pose3_retreat,0.606830986875,9.08601078882e-05,1.07003220238,0.577401437759,0.00876259739355,1.0697003376
+322,5.366666667,pose2_to_pose3_retreat,0.606135612353,9.08061057485e-05,1.07003220686,0.576706063306,0.00876254359202,1.06970034163
+323,5.383333333,pose2_to_pose3_retreat,0.605399068059,9.06689285978e-05,1.07003221415,0.575969520056,0.00876240985316,1.06970034708
+324,5.400000000,pose2_to_pose3_retreat,0.604634122429,9.07143632512e-05,1.0700322495,0.575204573941,0.0087624536951,1.06970038362
+325,5.416666667,pose2_to_pose3_retreat,0.603847124983,9.07910648544e-05,1.07003237277,0.574417575239,0.0087625260622,1.06970050441
+326,5.433333333,pose2_to_pose3_retreat,0.603071920526,9.07865665741e-05,1.0700324494,0.573642371708,0.00876252454464,1.06970057611
+327,5.450000000,pose2_to_pose3_retreat,0.602313181681,9.06964716807e-05,1.07003231087,0.572883634447,0.00876243991289,1.06970043988
+328,5.466666667,pose2_to_pose3_retreat,0.601565061062,9.06842721655e-05,1.07003199432,0.572135512243,0.00876242233191,1.0697001248
+329,5.483333333,pose2_to_pose3_retreat,0.600816400758,9.08347282256e-05,1.07003225558,0.571386850304,0.00876256759045,1.06970039275
+330,5.500000000,pose2_to_pose3_retreat,0.600055647836,9.08215462845e-05,1.07003242412,0.57062609864,0.00876255847418,1.06970055726
+331,5.516666667,pose2_to_pose3_retreat,0.59927005566,9.07987878748e-05,1.07003229444,0.569840506865,0.00876253720196,1.06970043056
+332,5.533333333,pose2_to_pose3_retreat,0.598462583817,9.07484929291e-05,1.07003212057,0.569033035894,0.00876249002326,1.06970026043
+333,5.550000000,pose2_to_pose3_retreat,0.59764498636,9.07466650072e-05,1.07003230921,0.568215438381,0.00876248788208,1.06970044571
+334,5.566666667,pose2_to_pose3_retreat,0.59682946476,9.07703581173e-05,1.07003263874,0.567399915718,0.00876250766599,1.06970076732
+335,5.583333333,pose2_to_pose3_retreat,0.596039371319,9.07953313214e-05,1.07003254031,0.56660982238,0.00876253284329,1.06970066537
+336,5.600000000,pose2_to_pose3_retreat,0.595266058013,9.08628045375e-05,1.07003215839,0.565836509718,0.00876260270132,1.0697002889
+337,5.616666667,pose2_to_pose3_retreat,0.59450502781,9.06983597843e-05,1.07003230283,0.565075479739,0.0087624393598,1.06970044041
+338,5.633333333,pose2_to_pose3_retreat,0.593752766033,9.06656889513e-05,1.07003207242,0.564323218143,0.00876240739359,1.06970021228
+339,5.650000000,pose2_to_pose3_retreat,0.593002494267,9.09326224175e-05,1.07003216324,0.563572944097,0.00876266657344,1.06970030247
+340,5.666666667,pose2_to_pose3_retreat,0.592242683226,9.08121158345e-05,1.07003227672,0.562813135235,0.00876255345931,1.06970041573
+341,5.683333333,pose2_to_pose3_retreat,0.591478680513,9.08287511934e-05,1.07003239702,0.562049131713,0.00876256727988,1.06970053405
+342,5.700000000,pose2_to_pose3_retreat,0.590717311598,9.08416362135e-05,1.07003223904,0.561287761603,0.00876257616557,1.06970037755
+343,5.716666667,pose2_to_pose3_retreat,0.589967469209,9.07659943307e-05,1.07003206693,0.560537920237,0.00876250400226,1.06970020555
+344,5.733333333,pose2_to_pose3_retreat,0.589231569739,9.07669414991e-05,1.07003215208,0.559802021332,0.0087625068965,1.06970029157
+345,5.750000000,pose2_to_pose3_retreat,0.588519308286,9.08414449262e-05,1.070032366,0.559089758437,0.00876257652921,1.06970050599
+346,5.766666667,pose2_to_pose3_retreat,0.587828868412,9.08150088949e-05,1.07003254179,0.558399318027,0.00876254777266,1.06970066866
+347,5.783333333,pose2_to_pose3_retreat,0.587156160456,9.07540221902e-05,1.07003218011,0.55772661098,0.00876249036519,1.06970031993
+348,5.800000000,pose2_to_pose3_retreat,0.586499467944,9.08311230722e-05,1.07003218856,0.557069917202,0.00876256306999,1.06970032761
+349,5.816666667,pose2_to_pose3_retreat,0.585857237381,9.08847828887e-05,1.07003242167,0.556427688134,0.00876262151107,1.06970055315
+350,5.833333333,pose2_to_pose3_retreat,0.585227504268,9.07750099254e-05,1.07003238853,0.55579795586,0.00876251445869,1.06970051691
+351,5.850000000,pose2_to_pose3_retreat,0.58461303243,9.07211206584e-05,1.07003242957,0.555183484324,0.00876246164717,1.06970055796
+352,5.866666667,pose2_to_pose3_retreat,0.584021453136,9.08465945904e-05,1.07003248303,0.554591902561,0.0087625786848,1.06970060922
+353,5.883333333,pose2_to_pose3_retreat,0.583453131426,9.08519706434e-05,1.07003234927,0.554023580399,0.00876258281638,1.06970048305
+354,5.900000000,pose2_to_pose3_retreat,0.582908631858,9.07455012904e-05,1.07003216729,0.553479083032,0.00876248418059,1.06970031048
+355,5.916666667,pose2_to_pose3_retreat,0.582379641986,9.08448384809e-05,1.07003221093,0.552950092704,0.00876258156193,1.06970034353
+356,5.933333333,pose2_to_pose3_retreat,0.581864026537,9.07989995685e-05,1.07003226386,0.55243447833,0.00876253921527,1.0697003927
+357,5.950000000,pose2_to_pose3_retreat,0.581366271308,9.08674110631e-05,1.07003261674,0.551936721396,0.00876260152738,1.06970073726
+358,5.966666667,pose2_to_pose3_retreat,0.580890464625,9.08154703803e-05,1.07003245996,0.551460915466,0.00876255255949,1.06970059141
+359,5.983333333,pose2_to_pose3_retreat,0.580445523141,9.08329340091e-05,1.07003215096,0.551015974742,0.00876257266074,1.0697002839
+360,6.000000000,pose2_to_pose3_retreat,0.580030525498,9.08799780651e-05,1.07003225466,0.550600976249,0.00876261686028,1.06970038933
+361,6.016666667,pose2_to_pose3_retreat,0.579645344157,9.09002974637e-05,1.07003226276,0.550215793731,0.00876263308785,1.06970039503
+362,6.033333333,pose2_to_pose3_retreat,0.579279882686,9.08975661938e-05,1.07003220491,0.549850332792,0.00876263226373,1.06970033953
+363,6.050000000,pose2_to_pose3_retreat,0.578931710483,9.08570776339e-05,1.07003222313,0.549502162538,0.0087625985897,1.06970036276
+364,6.066666667,pose2_to_pose3_retreat,0.578599556281,9.07832326827e-05,1.07003232189,0.549170009192,0.00876252749464,1.06970045734
+365,6.083333333,pose2_to_pose3_retreat,0.578284381515,9.07500312466e-05,1.07003235461,0.548854833034,0.00876248910498,1.06970047797
+366,6.100000000,pose2_to_pose3_retreat,0.577990255589,9.07018903158e-05,1.07003223872,0.548560708281,0.00876244519014,1.06970036842
+367,6.116666667,pose2_to_pose3_retreat,0.577718176472,9.0880553097e-05,1.07003232631,0.54828862683,0.00876261606614,1.06970045959
+368,6.133333333,pose2_to_pose3_retreat,0.577470256086,9.08265631742e-05,1.07003230502,0.548040708861,0.00876257051418,1.06970044452
+369,6.150000000,pose2_to_pose3_retreat,0.577243561508,9.08198787781e-05,1.0700323342,0.547814013761,0.00876256182942,1.06970046787
+370,6.166666667,pose2_to_pose3_retreat,0.577037717766,9.09038981672e-05,1.07003225481,0.547608167874,0.00876263856001,1.06970038824
+371,6.183333333,pose2_to_pose3_retreat,0.576853671931,9.09273703407e-05,1.07003221051,0.547424121877,0.00876266154922,1.06970034564
+372,6.200000000,pose2_to_pose3_retreat,0.576688895931,9.08559822866e-05,1.07003220949,0.547259346959,0.00876259383993,1.06970034484
+373,6.216666667,pose2_to_pose3_retreat,0.576542589979,9.07733972069e-05,1.07003220018,0.547113041606,0.00876251324247,1.06970033451
+374,6.233333333,pose2_to_pose3_retreat,0.576411350655,9.0783308623e-05,1.07003222694,0.546981803022,0.00876252557254,1.0697003587
+375,6.250000000,pose2_to_pose3_retreat,0.576294185044,9.08684366412e-05,1.07003224833,0.546864634284,0.00876259985218,1.06970037401
+376,6.266666667,pose2_to_pose3_retreat,0.576187310556,9.09366267377e-05,1.07003209306,0.546757760162,0.00876266984321,1.06970023338
+377,6.283333333,pose2_to_pose3_retreat,0.576090449918,9.08098679437e-05,1.07003214829,0.546660900363,0.00876254581241,1.06970028601
+378,6.300000000,pose2_to_pose3_retreat,0.576004823144,9.07547441706e-05,1.07003236477,0.546575274551,0.00876249364129,1.06970049454
+379,6.316666667,pose2_to_pose3_retreat,0.575930764535,9.07412782383e-05,1.07003247155,0.546501216921,0.00876248347451,1.06970060057
+380,6.333333333,pose2_to_pose3_retreat,0.575869705896,9.07328863945e-05,1.07003253162,0.546440159082,0.00876247772713,1.06970065886
+381,6.350000000,pose2_to_pose3_retreat,0.575820131943,9.07462879461e-05,1.07003253682,0.546390585111,0.00876249091115,1.06970065993
+382,6.366666667,pose2_to_pose3_retreat,0.575781198319,9.07396915973e-05,1.0700323771,0.546351650266,0.00876248030258,1.06970050358
+383,6.383333333,pose2_to_pose3_retreat,0.575750232183,9.08316726327e-05,1.0700324546,0.546320682896,0.00876256834956,1.06970058775
+384,6.400000000,pose2_to_pose3_retreat,0.575725859931,9.07393870506e-05,1.07003254555,0.546296313407,0.00876248560122,1.06970068289
+385,6.416666667,pose2_to_pose3_retreat,0.575707503894,9.07112854737e-05,1.070032302,0.54627795764,0.00876245840958,1.06970043928
+386,6.433333333,pose2_to_pose3_retreat,0.575693681811,9.06448928433e-05,1.07003218779,0.546264134845,0.0087623896762,1.06970032717
+387,6.450000000,pose2_to_pose3_retreat,0.575683799058,9.06272090119e-05,1.07003222719,0.546254251078,0.00876236849493,1.06970036519
+388,6.466666667,pose2_to_pose3_retreat,0.575676778772,9.0715866625e-05,1.07003234689,0.546247229784,0.00876245339796,1.06970047632
+389,6.483333333,pose2_to_pose3_retreat,0.575672381729,9.07302858509e-05,1.07003217553,0.546242832627,0.00876246750362,1.06970030652
+390,6.500000000,pose2_to_pose3_retreat,0.575669551616,9.07256567831e-05,1.07003217591,0.546240002739,0.00876246369901,1.06970030827
+391,6.516666667,pose2_to_pose3_retreat,0.5756679994,9.07053299088e-05,1.07003233731,0.546238451043,0.00876244517086,1.06970047069
+392,6.533333333,pose2_to_pose3_retreat,0.575667350388,9.06968308431e-05,1.0700324048,0.546237802248,0.00876243742388,1.0697005386
+393,6.550000000,pose2_to_pose3_retreat,0.575667066799,9.06931171269e-05,1.07003243429,0.546237518753,0.00876243403879,1.06970056828
+394,6.566666667,pose2_to_pose3_retreat,0.575666932937,9.06913641497e-05,1.07003244821,0.546237384936,0.00876243244094,1.06970058228
+395,6.583333333,pose2_to_pose3_retreat,0.575666842115,9.06907758345e-05,1.0700324513,0.54623729411,0.00876243183407,1.06970058535
+396,6.600000000,pose2_to_pose3_retreat,0.57566676496,9.0691541205e-05,1.07003244057,0.546237216875,0.00876243232309,1.06970057442
+397,6.616666667,pose2_to_pose3_retreat,0.575666543854,9.06937345544e-05,1.0700324098,0.546236995542,0.00876243372451,1.06970054308
+398,6.633333333,pose2_to_pose3_retreat,0.57566636128,9.06955456671e-05,1.07003238439,0.54623681278,0.00876243488169,1.0697005172
+399,6.650000000,pose2_to_pose3_retreat,0.575666348448,9.06956729607e-05,1.0700323826,0.546236799935,0.00876243496302,1.06970051539
+400,6.666666667,pose2_to_pose3_retreat,0.575666203385,9.06971119719e-05,1.07003236242,0.546236654723,0.00876243588246,1.06970049483
+401,6.683333333,pose2_to_pose3_retreat,0.575665942216,9.06997027357e-05,1.07003232607,0.546236393286,0.00876243753779,1.06970045781
+402,6.700000000,pose2_to_pose3_retreat,0.575665893708,9.07001839317e-05,1.07003231932,0.546236344728,0.00876243784525,1.06970045094
+403,6.716666667,pose2_to_pose3_retreat,0.575665800999,9.07011035908e-05,1.07003230642,0.546236251924,0.00876243843285,1.0697004378
+404,6.733333333,pose2_to_pose3_retreat,0.575665636975,9.07027306871e-05,1.07003228359,0.546236087732,0.00876243947246,1.06970041455
+405,6.750000000,pose2_to_pose3_retreat,0.575665442656,9.07046583177e-05,1.07003225655,0.546235893213,0.00876244070409,1.06970038701
+406,6.766666667,pose2_to_pose3_retreat,0.575665287721,9.07061952492e-05,1.07003223499,0.546235738119,0.00876244168609,1.06970036505
+407,6.783333333,pose2_to_pose3_retreat,0.575665198158,9.07042189634e-05,1.07003222787,0.546235648588,0.00876243980587,1.0697003576
+408,6.800000000,pose2_to_pose3_retreat,0.57566517928,9.07027877689e-05,1.07003222827,0.546235629761,0.00876243854256,1.06970035789
+409,6.816666667,pose2_to_pose3_retreat,0.575664962867,9.06863807612e-05,1.07003223279,0.546235413929,0.00876242406017,1.06970036117
+410,6.833333333,pose2_to_pose3_retreat,0.575664733217,9.06689702478e-05,1.07003223759,0.546235184896,0.00876240869199,1.06970036464
+411,6.850000000,pose2_to_pose3_retreat,0.575664710319,9.06672342484e-05,1.07003223807,0.546235162059,0.00876240715963,1.06970036499
+412,6.866666667,pose2_to_pose3_retreat,0.575664593,9.06583399485e-05,1.07003224052,0.546235045056,0.00876239930867,1.06970036677
+413,6.883333333,pose2_to_pose3_retreat,0.575664374693,9.06369941516e-05,1.07003213504,0.546234829486,0.00876238732867,1.06970026324
+414,6.900000000,pose2_to_pose3_retreat,0.575664342424,9.06336332185e-05,1.07003211473,0.546234797715,0.0087623856707,1.06970024335
+415,6.916666667,pose2_to_pose3_retreat,0.575664329753,9.0548489423e-05,1.07003218694,0.546234785641,0.00876230259098,1.06970031645
+416,6.933333333,pose2_to_pose3_retreat,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571882,1.06970035246

Part2/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_03/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98f42a9e2576d9eb930843a7aec7900122b718c8d15c439e7b897f80e7d9339b
+size 26517067

Part2/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_03/simulation_data.csv

@@ -0,0 +1,420 @@
+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,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+1,0.016666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+2,0.033333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+3,0.050000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+4,0.066666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+5,0.083333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+6,0.100000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+7,0.116666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+8,0.133333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+9,0.150000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+10,0.166666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+11,0.183333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+12,0.200000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+13,0.216666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+14,0.233333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+15,0.250000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+16,0.266666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+17,0.283333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+18,0.300000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+19,0.316666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+20,0.333333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+21,0.350000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+22,0.366666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+23,0.383333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+24,0.400000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+25,0.416666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+26,0.433333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+27,0.450000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+28,0.466666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+29,0.483333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+30,0.500000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+31,0.516666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+32,0.533333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+33,0.550000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+34,0.566666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+35,0.583333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+36,0.600000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+37,0.616666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+38,0.633333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+39,0.650000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+40,0.666666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+41,0.683333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+42,0.700000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+43,0.716666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+44,0.733333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+45,0.750000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+46,0.766666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+47,0.783333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+48,0.800000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+49,0.816666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+50,0.833333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+51,0.850000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+52,0.866666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+53,0.883333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+54,0.900000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+55,0.916666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+56,0.933333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+57,0.950000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+58,0.966666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+59,0.983333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+60,1.000000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+61,1.016666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+62,1.033333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+63,1.050000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+64,1.066666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+65,1.083333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+66,1.100000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+67,1.116666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+68,1.133333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+69,1.150000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+70,1.166666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+71,1.183333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+72,1.200000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+73,1.216666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+74,1.233333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+75,1.250000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+76,1.266666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+77,1.283333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+78,1.300000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+79,1.316666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+80,1.333333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+81,1.350000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+82,1.366666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+83,1.383333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+84,1.400000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+85,1.416666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+86,1.433333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+87,1.450000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+88,1.466666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+89,1.483333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+90,1.500000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+91,1.516666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+92,1.533333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+93,1.550000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+94,1.566666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+95,1.583333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+96,1.600000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+97,1.616666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+98,1.633333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+99,1.650000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+100,1.666666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+101,1.683333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+102,1.700000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+103,1.716666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+104,1.733333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+105,1.750000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+106,1.766666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+107,1.783333333,pose1_to_pose2_press,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+108,1.800000000,pose1_to_pose2_press,0.575664418027,9.05732257791e-05,1.07003228115,0.546234872779,0.00876232341118,1.06970040909
+109,1.816666667,pose1_to_pose2_press,0.575664502778,9.06328017524e-05,1.07003233716,0.546234956266,0.00876237862794,1.0697004633
+110,1.833333333,pose1_to_pose2_press,0.575664607557,9.06776308334e-05,1.07003236447,0.546235059998,0.00876241986628,1.06970048972
+111,1.850000000,pose1_to_pose2_press,0.575664623117,9.06816219543e-05,1.07003236464,0.546235075449,0.00876242349052,1.06970048989
+112,1.866666667,pose1_to_pose2_press,0.575664689577,9.06986691763e-05,1.07003236538,0.546235141448,0.00876243897071,1.06970049061
+113,1.883333333,pose1_to_pose2_press,0.575665140446,9.07554524988e-05,1.07003236536,0.546235590706,0.00876249031025,1.06970049117
+114,1.900000000,pose1_to_pose2_press,0.575667028568,9.07170308699e-05,1.07003241342,0.546237479804,0.00876245534038,1.06970054278
+115,1.916666667,pose1_to_pose2_press,0.575671741613,9.0815419723e-05,1.07003244107,0.546242191535,0.00876254945537,1.06970057539
+116,1.933333333,pose1_to_pose2_press,0.575682432694,9.08796383307e-05,1.07003230648,0.54625288276,0.00876261424635,1.0697004428
+117,1.950000000,pose1_to_pose2_press,0.575701243675,9.07687459447e-05,1.0700322745,0.546271694229,0.00876250475842,1.06970040426
+118,1.966666667,pose1_to_pose2_press,0.575731361896,9.06803412818e-05,1.07003220476,0.546301814791,0.00876242453568,1.06970034068
+119,1.983333333,pose1_to_pose2_press,0.575772398872,9.08009714581e-05,1.07003241268,0.546342850839,0.00876254171081,1.06970054049
+120,2.000000000,pose1_to_pose2_press,0.575823262514,9.07387321037e-05,1.07003240693,0.546393714418,0.00876247946887,1.06970054023
+121,2.016666667,pose1_to_pose2_press,0.575882441058,9.07879313027e-05,1.07003227852,0.546452892382,0.00876252671948,1.06970041224
+122,2.033333333,pose1_to_pose2_press,0.575949847638,9.08473357995e-05,1.07003234456,0.546520298545,0.00876258458777,1.069700475
+123,2.050000000,pose1_to_pose2_press,0.576025157631,9.08382259558e-05,1.07003234491,0.546595608534,0.0087625754596,1.06970047521
+124,2.066666667,pose1_to_pose2_press,0.576109220029,9.07731922122e-05,1.07003227163,0.546679671638,0.00876251296276,1.06970040563
+125,2.083333333,pose1_to_pose2_press,0.576207603541,9.07015428404e-05,1.0700321515,0.546778056028,0.00876244436515,1.06970028732
+126,2.100000000,pose1_to_pose2_press,0.576320397381,9.08142851179e-05,1.070032129,0.546890847802,0.00876255006893,1.069700264
+127,2.116666667,pose1_to_pose2_press,0.576448997226,9.09225766473e-05,1.07003222958,0.547019446644,0.00876265506593,1.06970036748
+128,2.133333333,pose1_to_pose2_press,0.576591446966,9.0921566463e-05,1.07003233356,0.547161898343,0.00876266051823,1.06970046658
+129,2.150000000,pose1_to_pose2_press,0.576747890855,9.09056572165e-05,1.07003226557,0.547318340378,0.00876263843526,1.06970040151
+130,2.166666667,pose1_to_pose2_press,0.576916716002,9.07055128332e-05,1.0700319782,0.547487166862,0.00876244288343,1.06970011557
+131,2.183333333,pose1_to_pose2_press,0.57709844267,9.08135858924e-05,1.07003230864,0.547668894402,0.00876255380538,1.06970044306
+132,2.200000000,pose1_to_pose2_press,0.577297490869,9.08168320654e-05,1.0700323419,0.547867941055,0.00876255170015,1.06970047348
+133,2.216666667,pose1_to_pose2_press,0.577515340847,9.08386508677e-05,1.07003204299,0.548085792037,0.00876257728116,1.0697001838
+134,2.233333333,pose1_to_pose2_press,0.577755830197,9.07575100882e-05,1.07003219215,0.548326282374,0.00876249925375,1.06970032675
+135,2.250000000,pose1_to_pose2_press,0.578017854589,9.07678331048e-05,1.07003247968,0.54858830708,0.00876251044473,1.06970060903
+136,2.266666667,pose1_to_pose2_press,0.578301262078,9.07631167652e-05,1.07003241045,0.54887171467,0.00876250619701,1.06970054313
+137,2.283333333,pose1_to_pose2_press,0.578608333012,9.07113201703e-05,1.07003230722,0.549178784808,0.00876245168391,1.06970043935
+138,2.300000000,pose1_to_pose2_press,0.578937197164,9.07678100077e-05,1.07003243576,0.549507647577,0.00876250323759,1.06970056151
+139,2.316666667,pose1_to_pose2_press,0.579286797488,9.08136718155e-05,1.07003231817,0.54985724809,0.00876254988565,1.06970044766
+140,2.333333333,pose1_to_pose2_press,0.579656492828,9.07546729336e-05,1.07003224591,0.550226944435,0.00876249473363,1.06970038673
+141,2.350000000,pose1_to_pose2_press,0.580047135309,9.06943327763e-05,1.07003258103,0.550617587854,0.00876243697212,1.06970070604
+142,2.366666667,pose1_to_pose2_press,0.580455337559,9.08013153778e-05,1.07003234746,0.551025787741,0.00876253602099,1.06970047457
+143,2.383333333,pose1_to_pose2_press,0.580881541815,9.09108210026e-05,1.07003218577,0.551451992684,0.00876264838455,1.06970032655
+144,2.400000000,pose1_to_pose2_press,0.581324997007,9.08173194246e-05,1.07003232259,0.551895446924,0.00876255128903,1.0697004539
+145,2.416666667,pose1_to_pose2_press,0.581788745162,9.09200776889e-05,1.07003235899,0.552359193762,0.0087626494257,1.06970048626
+146,2.433333333,pose1_to_pose2_press,0.582282388665,9.08219362546e-05,1.07003218165,0.552852838985,0.00876255725274,1.06970031228
+147,2.450000000,pose1_to_pose2_press,0.582804231492,9.07705202738e-05,1.07003234643,0.553374683437,0.00876251113391,1.06970047129
+148,2.466666667,pose1_to_pose2_press,0.583355651596,9.07446910489e-05,1.07003218223,0.553926103525,0.00876248557233,1.06970031549
+149,2.483333333,pose1_to_pose2_press,0.583928746758,9.07025461843e-05,1.07003193715,0.554499198881,0.00876244441204,1.06970007884
+150,2.500000000,pose1_to_pose2_press,0.584517875332,9.07123292674e-05,1.07003200289,0.555088326507,0.00876245085559,1.0697001414
+151,2.516666667,pose1_to_pose2_press,0.58511312939,9.08038847242e-05,1.07003211022,0.555683578508,0.00876253543926,1.06970024891
+152,2.533333333,pose1_to_pose2_press,0.585715997296,9.08652633786e-05,1.0700323026,0.556286446689,0.00876259767895,1.06970043937
+153,2.550000000,pose1_to_pose2_press,0.586331506065,9.07867442475e-05,1.07003257653,0.556901957305,0.00876252502764,1.06970070283
+154,2.566666667,pose1_to_pose2_press,0.586969801022,9.08445374755e-05,1.07003246592,0.55754025138,0.00876257989619,1.06970059392
+155,2.583333333,pose1_to_pose2_press,0.587632717056,9.08037766701e-05,1.07003246124,0.558203168221,0.00876254196957,1.06970059178
+156,2.600000000,pose1_to_pose2_press,0.588309516075,9.06628355916e-05,1.07003246615,0.55887996943,0.00876240850618,1.06970059775
+157,2.616666667,pose1_to_pose2_press,0.588998641067,9.07366295104e-05,1.07003234495,0.559569093012,0.00876247749433,1.06970047606
+158,2.633333333,pose1_to_pose2_press,0.589705098354,9.07785615715e-05,1.07003235778,0.560275549903,0.00876251795709,1.06970048556
+159,2.650000000,pose1_to_pose2_press,0.590425406791,9.08075709419e-05,1.07003245238,0.560995858264,0.00876254667172,1.06970057926
+160,2.666666667,pose1_to_pose2_press,0.591159795018,9.0827462164e-05,1.07003230677,0.56173024586,0.00876256450406,1.06970043572
+161,2.683333333,pose1_to_pose2_press,0.591909999118,9.07759565705e-05,1.07003221389,0.562480450468,0.00876251488401,1.06970034715
+162,2.700000000,pose1_to_pose2_press,0.592670784247,9.08835708085e-05,1.07003227541,0.563241235355,0.00876262177019,1.06970041105
+163,2.716666667,pose1_to_pose2_press,0.593435558178,9.08608127058e-05,1.07003228392,0.564006009359,0.00876259908233,1.06970041495
+164,2.733333333,pose1_to_pose2_press,0.594203593702,9.08178473665e-05,1.07003233692,0.564774043929,0.0087625528107,1.06970046625
+165,2.750000000,pose1_to_pose2_press,0.594975622845,9.08684004173e-05,1.07003230475,0.565546072414,0.00876260147114,1.06970044296
+166,2.766666667,pose1_to_pose2_press,0.595747426589,9.07603700768e-05,1.07003209918,0.566317878542,0.00876250160925,1.06970023949
+167,2.783333333,pose1_to_pose2_press,0.596514175542,9.07346812379e-05,1.07003223539,0.567084627671,0.00876247601689,1.06970036268
+168,2.800000000,pose1_to_pose2_press,0.597286288537,9.07378058576e-05,1.07003221596,0.567856740405,0.00876247856528,1.06970035136
+169,2.816666667,pose1_to_pose2_press,0.598061596269,9.08202715208e-05,1.07003232845,0.568632047922,0.00876256025531,1.06970046262
+170,2.833333333,pose1_to_pose2_press,0.598826772093,9.06536356132e-05,1.07003224381,0.569397224434,0.00876239565494,1.06970037017
+171,2.850000000,pose1_to_pose2_press,0.599598082269,9.08020777258e-05,1.0700322863,0.570168533777,0.00876254182388,1.06970042732
+172,2.866666667,pose1_to_pose2_press,0.600387499714,9.09161097469e-05,1.07003230441,0.570957949307,0.00876264927372,1.06970044325
+173,2.883333333,pose1_to_pose2_press,0.60117730257,9.07672853775e-05,1.07003227026,0.571747754774,0.0087625089066,1.06970039855
+174,2.900000000,pose1_to_pose2_press,0.601966604745,9.06650927389e-05,1.0700322355,0.572537057603,0.00876240890908,1.06970036329
+175,2.916666667,pose1_to_pose2_press,0.602747746775,9.08003738128e-05,1.07003228637,0.573318197846,0.0087625383291,1.06970041956
+176,2.933333333,pose1_to_pose2_press,0.603513178875,9.08433155407e-05,1.07003227232,0.574083630214,0.0087625820316,1.06970040168
+177,2.950000000,pose1_to_pose2_press,0.604252724036,9.08433705393e-05,1.07003234162,0.574823175727,0.00876258338251,1.06970047366
+178,2.966666667,pose1_to_pose2_press,0.604975407142,9.08593287218e-05,1.07003232028,0.575545858266,0.00876259766706,1.06970045892
+179,2.983333333,pose1_to_pose2_press,0.605688731461,9.08363357482e-05,1.07003209365,0.576259182605,0.00876257484679,1.0697002352
+180,3.000000000,pose1_to_pose2_press,0.606399184007,9.07803194425e-05,1.07003200822,0.576969636253,0.00876252256383,1.06970014963
+181,3.016666667,pose1_to_pose2_press,0.607105592167,9.07480150747e-05,1.07003223972,0.577676045143,0.00876249242695,1.06970037311
+182,3.033333333,pose1_to_pose2_press,0.607804273223,9.08273566591e-05,1.07003228935,0.578374724271,0.00876256536434,1.06970042653
+183,3.050000000,pose1_to_pose2_press,0.608481910213,9.07981774617e-05,1.07003219555,0.579052360734,0.00876253437642,1.06970033225
+184,3.066666667,pose1_to_pose2_press,0.60912528363,9.07790939457e-05,1.07003219062,0.579695733886,0.00876251445842,1.06970032915
+185,3.083333333,pose1_to_pose2_press,0.609743452704,9.08503137294e-05,1.07003253324,0.580313903539,0.00876258736348,1.06970066448
+186,3.100000000,pose1_to_pose2_press,0.610338212183,9.0854073385e-05,1.07003249179,0.580908663132,0.00876259151503,1.06970062332
+187,3.116666667,pose1_to_pose2_press,0.610903865431,9.09064853522e-05,1.07003235469,0.581474315759,0.00876264212938,1.06970049434
+188,3.133333333,pose1_to_pose2_press,0.611448115056,9.0852243276e-05,1.07003231163,0.582018566078,0.00876259022806,1.06970045097
+189,3.150000000,pose1_to_pose2_press,0.611986006271,9.0796374258e-05,1.0700323325,0.582556457296,0.00876253416639,1.06970046667
+190,3.166666667,pose1_to_pose2_press,0.612519115867,9.08823080783e-05,1.07003235066,0.583089565002,0.0087626137153,1.06970048588
+191,3.183333333,pose1_to_pose2_press,0.613047568739,9.09178438461e-05,1.07003243162,0.583618018792,0.00876265244675,1.06970056899
+192,3.200000000,pose1_to_pose2_press,0.613571145749,9.0785266773e-05,1.07003244343,0.584141596873,0.00876252339089,1.06970057599
+193,3.216666667,pose1_to_pose2_press,0.614083139969,9.07297315766e-05,1.0700323245,0.58465359284,0.00876247391384,1.06970045784
+194,3.233333333,pose1_to_pose2_press,0.614562740965,9.06665875395e-05,1.0700322466,0.585133192679,0.00876240673952,1.06970037103
+195,3.250000000,pose1_to_pose2_press,0.615009984422,9.07684425565e-05,1.07003246771,0.585580437215,0.00876251242994,1.06970059079
+196,3.266666667,pose1_to_pose2_press,0.61542445675,9.07394206908e-05,1.07003222763,0.585994909817,0.00876248522147,1.06970036721
+197,3.283333333,pose1_to_pose2_press,0.615817262087,9.08488102171e-05,1.0700322742,0.586387712766,0.00876258663622,1.06970041027
+198,3.300000000,pose1_to_pose2_press,0.616191597036,9.08397263539e-05,1.07003233722,0.586762047417,0.00876257663949,1.06970046951
+199,3.316666667,pose1_to_pose2_press,0.61655533758,9.07419360699e-05,1.07003233415,0.587125788634,0.00876248140605,1.06970046731
+200,3.333333333,pose1_to_pose2_press,0.616906562349,9.07110391894e-05,1.07003222569,0.587477013871,0.0087624524168,1.06970036096
+201,3.350000000,pose1_to_pose2_press,0.617236671347,9.07801872931e-05,1.07003218991,0.587807122438,0.00876252033866,1.06970032579
+202,3.366666667,pose1_to_pose2_press,0.61754310819,9.08810867268e-05,1.07003237031,0.588113556681,0.00876261266367,1.06970050676
+203,3.383333333,pose1_to_pose2_press,0.617821849527,9.08844375746e-05,1.07003214142,0.588392298777,0.00876261926313,1.06970028838
+204,3.400000000,pose1_to_pose2_press,0.618076598787,9.06655387918e-05,1.07003217963,0.588647051378,0.0087624116128,1.06970032154
+205,3.416666667,pose1_to_pose2_press,0.618308961068,9.08684745135e-05,1.07003239313,0.588879411975,0.00876260900718,1.06970053393
+206,3.433333333,pose1_to_pose2_press,0.618525819858,9.07335412767e-05,1.07003227431,0.589096272271,0.00876247897169,1.06970040637
+207,3.450000000,pose1_to_pose2_press,0.618729192083,9.07141249998e-05,1.07003230383,0.589299645144,0.00876246178983,1.06970043329
+208,3.466666667,pose1_to_pose2_press,0.618919739968,9.07320085769e-05,1.07003241967,0.589490192686,0.00876247864453,1.06970054788
+209,3.483333333,pose1_to_pose2_press,0.619095776445,9.07144994803e-05,1.07003228967,0.589666228182,0.0087624580401,1.06970042014
+210,3.500000000,pose1_to_pose2_press,0.619255502785,9.07641943282e-05,1.07003217731,0.589825952711,0.00876250186213,1.06970031246
+211,3.516666667,pose1_to_pose2_press,0.619397892555,9.08501969647e-05,1.07003232147,0.589968341555,0.00876258487436,1.06970045831
+212,3.533333333,pose1_to_pose2_press,0.619523607056,9.08037121714e-05,1.07003226933,0.590094057524,0.00876254344339,1.06970040636
+213,3.550000000,pose1_to_pose2_press,0.619633640514,9.07958257271e-05,1.07003207859,0.59020409052,0.00876253411777,1.06970021613
+214,3.566666667,pose1_to_pose2_press,0.619730042133,9.08744792698e-05,1.07003219426,0.590300490749,0.00876260804845,1.06970032918
+215,3.583333333,pose1_to_pose2_press,0.619813237549,9.08109166664e-05,1.07003231778,0.590383687515,0.00876254926591,1.06970044862
+216,3.600000000,pose1_to_pose2_press,0.619886035801,9.07670974034e-05,1.07003223575,0.590456484511,0.00876250148025,1.06970037055
+217,3.616666667,pose1_to_pose2_press,0.619948756637,9.0744632075e-05,1.07003226139,0.590519206778,0.00876248401042,1.06970039915
+218,3.633333333,pose1_to_pose2_press,0.620002166115,9.07656463726e-05,1.07003232841,0.590572616582,0.00876250597698,1.06970046261
+219,3.650000000,pose1_to_pose2_press,0.620047041064,9.08080446253e-05,1.07003233482,0.590617490723,0.0087625455605,1.06970046766
+220,3.666666667,pose1_to_pose2_press,0.620083632335,9.08048648316e-05,1.07003226274,0.590654083099,0.00876254639157,1.06970040315
+221,3.683333333,pose1_to_pose2_press,0.620113450534,9.06701432005e-05,1.07003208703,0.590683901519,0.00876241196495,1.06970022138
+222,3.700000000,pose1_to_pose2_press,0.620136642778,9.07382542885e-05,1.07003236302,0.590707093598,0.00876247936297,1.06970049527
+223,3.716666667,pose1_to_pose2_press,0.62015546345,9.0752401075e-05,1.07003247866,0.590725914507,0.0087624941887,1.06970060523
+224,3.733333333,pose1_to_pose2_press,0.62017007928,9.07818441704e-05,1.07003240443,0.590740529689,0.00876252155719,1.06970053029
+225,3.750000000,pose1_to_pose2_press,0.620180669266,9.08536837845e-05,1.07003221405,0.590751117945,0.00876258790936,1.0697003465
+226,3.766666667,pose1_to_pose2_press,0.620188176948,9.0734442471e-05,1.07003241723,0.590758628131,0.0087624768057,1.06970054115
+227,3.783333333,pose1_to_pose2_press,0.620193126135,9.06945182484e-05,1.07003247072,0.590763578406,0.00876244047853,1.06970059305
+228,3.800000000,pose1_to_pose2_press,0.620196101276,9.07183479776e-05,1.07003240338,0.590766553502,0.00876246428517,1.06970052976
+229,3.816666667,pose1_to_pose2_press,0.620197521381,9.07297224768e-05,1.07003237124,0.590767973587,0.00876247564865,1.06970049954
+230,3.833333333,pose1_to_pose2_press,0.620198514487,9.07376768779e-05,1.07003234877,0.590768966679,0.00876248359535,1.06970047842
+231,3.850000000,pose1_to_pose2_press,0.62019915127,9.07444158022e-05,1.07003231563,0.590769603242,0.00876248963003,1.06970044649
+232,3.866666667,pose1_to_pose2_press,0.620199773509,9.07516036071e-05,1.07003227635,0.590770225189,0.00876249587242,1.06970040852
+233,3.883333333,pose1_to_pose2_press,0.620200289418,9.07575631357e-05,1.07003224378,0.590770740855,0.00876250104808,1.06970037705
+234,3.900000000,pose1_to_pose2_press,0.620200599723,9.0761147631e-05,1.0700322242,0.590771051015,0.0087625041611,1.06970035812
+235,3.916666667,pose1_to_pose2_press,0.620201167805,9.07677098432e-05,1.07003218834,0.590771618831,0.00876250986018,1.06970032346
+236,3.933333333,pose1_to_pose2_press,0.620202051511,9.07779179866e-05,1.07003213256,0.590772502122,0.00876251872564,1.06970026954
+237,3.950000000,pose1_to_pose2_press,0.620202742512,9.07859001015e-05,1.07003208894,0.590773192799,0.00876252565786,1.06970022739
+238,3.966666667,pose1_to_pose2_press,0.620203322025,9.07827670175e-05,1.07003210156,0.590773772221,0.00876252219156,1.06970023937
+239,3.983333333,pose1_to_pose2_press,0.620203955397,9.07678704991e-05,1.07003217277,0.590774405705,0.00876250756976,1.06970030773
+240,4.000000000,pose1_to_pose2_press,0.620204283332,9.07601576733e-05,1.07003220964,0.590774733698,0.00876249999917,1.06970034312
+241,4.016666667,pose1_to_pose2_press,0.620204462057,9.07559541765e-05,1.07003222974,0.590774912455,0.0087624958732,1.06970036242
+242,4.033333333,pose1_to_pose2_press,0.620204504537,9.07549550755e-05,1.07003223451,0.590774954942,0.00876249489252,1.069700367
+243,4.050000000,pose1_to_pose2_press,0.620204721283,9.07498573368e-05,1.07003225889,0.590775171727,0.00876248988879,1.06970039039
+244,4.066666667,pose1_to_pose2_press,0.620204989216,9.07435557121e-05,1.07003228901,0.590775439707,0.00876248370338,1.06970041931
+245,4.083333333,pose1_to_pose2_press,0.620205268457,9.07369881445e-05,1.07003232041,0.590775718998,0.00876247725693,1.06970044945
+246,4.100000000,pose1_to_pose2_press,0.620205613609,9.07258417777e-05,1.07003234387,0.590776064196,0.00876246621873,1.06970047164
+247,4.116666667,pose1_to_pose2_press,0.620205844362,9.0710149866e-05,1.07003231779,0.59077629494,0.00876245048614,1.06970044551
+248,4.133333333,pose1_to_pose2_press,0.620205855482,9.07093936321e-05,1.07003231653,0.59077630606,0.00876244972794,1.06970044425
+249,4.150000000,pose1_to_pose2_press,0.620206210002,9.06852852301e-05,1.07003227646,0.590776660565,0.00876242555703,1.06970040409
+250,4.166666667,pose1_to_pose2_press,0.620206614648,9.06577680684e-05,1.07003223073,0.590777065195,0.00876239796853,1.06970035826
+251,4.183333333,pose1_to_pose2_press,0.620206702155,9.06634550971e-05,1.07003224401,0.590777152592,0.00876240327675,1.06970037146
+252,4.200000000,pose1_to_pose2_press,0.620206904077,9.0746126018e-05,1.07003241308,0.590777353617,0.00876248290205,1.06970054
+253,4.216666667,pose1_to_pose2_press,0.620207044712,9.08037052717e-05,1.07003253084,0.590777493629,0.00876253836006,1.06970065738
+254,4.233333333,pose1_to_pose2_press,0.62020715401,9.08140936298e-05,1.07003255491,0.590777602376,0.00876254681404,1.06970067975
+255,4.250000000,pose1_to_pose2_press,0.620207245786,9.07443664487e-05,1.07003238752,0.590777695863,0.00876248267002,1.06970050688
+256,4.266666667,pose2_hold,0.620207245786,9.07443664487e-05,1.07003238752,0.590777695864,0.00876248267189,1.06970050688
+257,4.283333333,pose2_hold,0.620207245786,9.07443664487e-05,1.07003238752,0.590777695864,0.00876248267186,1.06970050688
+258,4.300000000,pose2_hold,0.620207245786,9.07443664487e-05,1.07003238752,0.590777695864,0.00876248267178,1.06970050688
+259,4.316666667,pose2_hold,0.620207245786,9.07443664487e-05,1.07003238752,0.590777695864,0.00876248267193,1.06970050688
+260,4.333333333,pose2_hold,0.620207245786,9.07443664487e-05,1.07003238752,0.590777695864,0.00876248267201,1.06970050688
+261,4.350000000,pose2_hold,0.620207245786,9.07443664487e-05,1.07003238752,0.590777695864,0.00876248267198,1.06970050688
+262,4.366666667,pose2_hold,0.620207245786,9.07443664487e-05,1.07003238752,0.590777695864,0.00876248267204,1.06970050688
+263,4.383333333,pose2_hold,0.620207245786,9.07443664487e-05,1.07003238752,0.590777695864,0.00876248267208,1.06970050688
+264,4.400000000,pose2_hold,0.620207245786,9.07443664487e-05,1.07003238752,0.590777695865,0.00876248267208,1.06970050688
+265,4.416666667,pose2_hold,0.620207245786,9.07443664487e-05,1.07003238752,0.590777695865,0.0087624826721,1.06970050688
+266,4.433333333,pose2_hold,0.620207245786,9.07443664487e-05,1.07003238752,0.590777695865,0.0087624826721,1.06970050688
+267,4.450000000,pose2_hold,0.620207245786,9.07443664487e-05,1.07003238752,0.590777695865,0.0087624826721,1.06970050688
+268,4.466666667,pose2_hold,0.620207245786,9.07443664487e-05,1.07003238752,0.590777695865,0.00876248267211,1.06970050688
+269,4.483333333,pose2_hold,0.620207245786,9.07443664487e-05,1.07003238752,0.590777695865,0.00876248267186,1.06970050688
+270,4.500000000,pose2_hold,0.620207245786,9.07443664487e-05,1.07003238752,0.590777695865,0.00876248267168,1.06970050688
+271,4.516666667,pose2_hold,0.620207245786,9.07443664487e-05,1.07003238752,0.590777695866,0.00876248267173,1.06970050688
+272,4.533333333,pose2_to_pose3_retreat,0.620207245786,9.07443664487e-05,1.07003238752,0.590777695866,0.0087624826718,1.06970050688
+273,4.550000000,pose2_to_pose3_retreat,0.620207206487,9.07877418028e-05,1.07003250679,0.590777655962,0.00876252403356,1.06970062716
+274,4.566666667,pose2_to_pose3_retreat,0.62020718741,9.08087972182e-05,1.07003256469,0.590777636592,0.00876254411154,1.06970068554
+275,4.583333333,pose2_to_pose3_retreat,0.620207165331,9.08331666544e-05,1.07003263171,0.590777614174,0.00876256734968,1.06970075312
+276,4.600000000,pose2_to_pose3_retreat,0.620207056882,9.08473053098e-05,1.07003268954,0.59077750552,0.00876258088407,1.06970081338
+277,4.616666667,pose2_to_pose3_retreat,0.620206868066,9.0779589889e-05,1.07003255289,0.590777317627,0.00876251644839,1.06970068071
+278,4.633333333,pose2_to_pose3_retreat,0.620206762898,9.07418731334e-05,1.07003247678,0.590777212972,0.00876248055842,1.0697006068
+279,4.650000000,pose2_to_pose3_retreat,0.62020640055,9.07713256916e-05,1.07003247369,0.590776850438,0.00876250928991,1.06970060127
+280,4.666666667,pose2_to_pose3_retreat,0.620204692309,9.08375250608e-05,1.07003235698,0.590775141739,0.00876257395341,1.06970048503
+281,4.683333333,pose2_to_pose3_retreat,0.620199237135,9.0715958125e-05,1.07003218097,0.590769688706,0.00876245991777,1.06970031602
+282,4.700000000,pose2_to_pose3_retreat,0.620188397659,9.06676178267e-05,1.0700323808,0.590758849746,0.00876241281976,1.06970050332
+283,4.716666667,pose2_to_pose3_retreat,0.620166966221,9.07480127626e-05,1.07003233316,0.590737416683,0.0087624880702,1.0697004652
+284,4.733333333,pose2_to_pose3_retreat,0.620134612123,9.0640609254e-05,1.07003247343,0.590705063904,0.00876238509831,1.06970060127
+285,4.750000000,pose2_to_pose3_retreat,0.620090834973,9.07522796189e-05,1.07003233624,0.590661285831,0.00876249379929,1.06970046838
+286,4.766666667,pose2_to_pose3_retreat,0.620037469472,9.08072091049e-05,1.07003234359,0.590607919558,0.00876254578766,1.06970047411
+287,4.783333333,pose2_to_pose3_retreat,0.619975009363,9.07967467112e-05,1.07003234106,0.590545459968,0.00876253707593,1.06970047196
+288,4.800000000,pose2_to_pose3_retreat,0.619905801509,9.08484190097e-05,1.07003233554,0.590476251433,0.0087625865923,1.06970046821
+289,4.816666667,pose2_to_pose3_retreat,0.619829519787,9.08938778278e-05,1.07003235775,0.59039996869,0.00876262819503,1.0697004855
+290,4.833333333,pose2_to_pose3_retreat,0.619742652874,9.08937522094e-05,1.07003235424,0.590313101826,0.008762628125,1.0697004812
+291,4.850000000,pose2_to_pose3_retreat,0.619643924134,9.07644173075e-05,1.07003231744,0.590214375124,0.00876250592497,1.06970045243
+292,4.866666667,pose2_to_pose3_retreat,0.619529786731,9.08482905591e-05,1.07003233621,0.59010023811,0.00876259094352,1.06970046818
+293,4.883333333,pose2_to_pose3_retreat,0.619400000882,9.07850959755e-05,1.07003241599,0.589970451046,0.00876252369083,1.06970055256
+294,4.900000000,pose2_to_pose3_retreat,0.619253619034,9.07872606699e-05,1.07003246997,0.589824068811,0.00876252411222,1.06970059856
+295,4.916666667,pose2_to_pose3_retreat,0.619091885023,9.0760124718e-05,1.07003253217,0.589662335728,0.00876250016117,1.06970066511
+296,4.933333333,pose2_to_pose3_retreat,0.618914542859,9.07200651993e-05,1.07003236727,0.589484993915,0.008762461255,1.06970050312
+297,4.950000000,pose2_to_pose3_retreat,0.61871838581,9.07119494981e-05,1.07003220009,0.589288836941,0.00876245321554,1.06970033508
+298,4.966666667,pose2_to_pose3_retreat,0.618503493303,9.07476454317e-05,1.07003213409,0.589073944124,0.00876248771264,1.06970026874
+299,4.983333333,pose2_to_pose3_retreat,0.618267776652,9.07892298932e-05,1.07003205747,0.588838226116,0.00876252448008,1.06970019118
+300,5.000000000,pose2_to_pose3_retreat,0.618012761166,9.08071845922e-05,1.07003245568,0.588583211384,0.00876254466759,1.06970058541
+301,5.016666667,pose2_to_pose3_retreat,0.617739503149,9.0927791358e-05,1.07003246153,0.588309953342,0.00876266493507,1.06970059029
+302,5.033333333,pose2_to_pose3_retreat,0.617447772136,9.08380086615e-05,1.07003236796,0.588018222572,0.00876257584728,1.06970049882
+303,5.050000000,pose2_to_pose3_retreat,0.61713801532,9.08661742992e-05,1.07003232607,0.587708465367,0.00876260259262,1.06970045999
+304,5.066666667,pose2_to_pose3_retreat,0.61680684947,9.09663961032e-05,1.07003218685,0.587377298416,0.00876269886767,1.06970032133
+305,5.083333333,pose2_to_pose3_retreat,0.616451499729,9.09104706567e-05,1.07003213759,0.587021949049,0.00876264393612,1.06970027132
+306,5.100000000,pose2_to_pose3_retreat,0.616067794301,9.07830029065e-05,1.0700322479,0.586638244679,0.00876251976166,1.06970038066
+307,5.116666667,pose2_to_pose3_retreat,0.615659272917,9.08192093661e-05,1.07003229479,0.586229722893,0.00876255439855,1.0697004288
+308,5.133333333,pose2_to_pose3_retreat,0.61522720072,9.07784092962e-05,1.07003220449,0.58579765151,0.00876251639878,1.06970034596
+309,5.150000000,pose2_to_pose3_retreat,0.614774650074,9.07999085117e-05,1.07003243169,0.585345099943,0.00876253431919,1.06970056783
+310,5.166666667,pose2_to_pose3_retreat,0.61430457237,9.0802888534e-05,1.07003236094,0.584875024257,0.00876254367299,1.06970049118
+311,5.183333333,pose2_to_pose3_retreat,0.613819208363,9.08745732438e-05,1.0700323327,0.584389658314,0.00876260868277,1.06970046609
+312,5.200000000,pose2_to_pose3_retreat,0.613314685795,9.08360567598e-05,1.07003241239,0.583885135341,0.00876256867568,1.06970054429
+313,5.216666667,pose2_to_pose3_retreat,0.612786908461,9.08118893239e-05,1.0700322372,0.583357358151,0.00876254512699,1.06970037279
+314,5.233333333,pose2_to_pose3_retreat,0.612227149264,9.08081341686e-05,1.07003213566,0.582797599674,0.00876254383827,1.06970027106
+315,5.250000000,pose2_to_pose3_retreat,0.611638377064,9.07800267252e-05,1.07003223207,0.582208828383,0.00876251858383,1.06970036085
+316,5.266666667,pose2_to_pose3_retreat,0.611034446448,9.07660385224e-05,1.07003226538,0.581604897859,0.00876250487973,1.06970039447
+317,5.283333333,pose2_to_pose3_retreat,0.610421084584,9.08118066107e-05,1.07003229877,0.580991535784,0.00876255021903,1.06970043563
+318,5.300000000,pose2_to_pose3_retreat,0.60980123592,9.07521129602e-05,1.07003222532,0.580371687609,0.00876249200068,1.06970035759
+319,5.316666667,pose2_to_pose3_retreat,0.609181004779,9.07988620934e-05,1.07003244431,0.579751455088,0.00876253393076,1.06970057326
+320,5.333333333,pose2_to_pose3_retreat,0.608556396039,9.0820891128e-05,1.07003234944,0.579126846459,0.0087625558896,1.06970046617
+321,5.350000000,pose2_to_pose3_retreat,0.607901224865,9.07994089904e-05,1.0700323759,0.578471677086,0.00876254098137,1.06970050365
+322,5.366666667,pose2_to_pose3_retreat,0.607216335512,9.06618623095e-05,1.07003234075,0.577786789268,0.00876240886057,1.06970047424
+323,5.383333333,pose2_to_pose3_retreat,0.606500580808,9.06607926661e-05,1.07003231469,0.577071033364,0.00876240351523,1.0697004436
+324,5.400000000,pose2_to_pose3_retreat,0.605751092342,9.08520185413e-05,1.07003233713,0.576321542982,0.00876258840928,1.06970047091
+325,5.416666667,pose2_to_pose3_retreat,0.604962093215,9.07186199287e-05,1.07003213271,0.575532546275,0.00876246333741,1.06970027041
+326,5.433333333,pose2_to_pose3_retreat,0.604169199945,9.06760118402e-05,1.07003227153,0.574739653592,0.0087624226413,1.06970040685
+327,5.450000000,pose2_to_pose3_retreat,0.60337797124,9.07377239452e-05,1.07003208792,0.573948423339,0.00876247934445,1.06970022828
+328,5.466666667,pose2_to_pose3_retreat,0.602596003832,9.06495942523e-05,1.07003236592,0.573166457162,0.00876239471256,1.06970048862
+329,5.483333333,pose2_to_pose3_retreat,0.601826785785,9.0689796732e-05,1.070032241,0.572397240105,0.00876243854733,1.06970037068
+330,5.500000000,pose2_to_pose3_retreat,0.601068673089,9.07669718527e-05,1.07003223312,0.57163912515,0.0087625079637,1.0697003618
+331,5.516666667,pose2_to_pose3_retreat,0.600293672129,9.0816003359e-05,1.07003227782,0.57086412475,0.00876255929683,1.0697004152
+332,5.533333333,pose2_to_pose3_retreat,0.599493683893,9.08237020923e-05,1.07003231452,0.570064134655,0.00876256065818,1.06970045157
+333,5.550000000,pose2_to_pose3_retreat,0.598670669087,9.08526218919e-05,1.07003225973,0.569241117998,0.00876258319121,1.06970039437
+334,5.566666667,pose2_to_pose3_retreat,0.597833433836,9.09150431557e-05,1.07003224429,0.568403882985,0.00876264654774,1.06970038166
+335,5.583333333,pose2_to_pose3_retreat,0.597001040002,9.08881935448e-05,1.07003232874,0.567571490336,0.00876262359693,1.06970046297
+336,5.600000000,pose2_to_pose3_retreat,0.596189063811,9.0812483858e-05,1.07003232704,0.566759514855,0.00876255003085,1.06970045421
+337,5.616666667,pose2_to_pose3_retreat,0.595410468613,9.08440813594e-05,1.07003222447,0.565980918779,0.00876257880983,1.06970035596
+338,5.633333333,pose2_to_pose3_retreat,0.594644760075,9.07629447265e-05,1.0700322087,0.565215211641,0.00876250268001,1.06970034748
+339,5.650000000,pose2_to_pose3_retreat,0.593885290601,9.07736784497e-05,1.0700324344,0.564455743659,0.00876251837601,1.06970056861
+340,5.666666667,pose2_to_pose3_retreat,0.593120874903,9.05490594757e-05,1.07003225117,0.563691329173,0.00876229785231,1.06970038469
+341,5.683333333,pose2_to_pose3_retreat,0.592348953046,9.07575992915e-05,1.07003237676,0.562919403963,0.00876249499818,1.06970050961
+342,5.700000000,pose2_to_pose3_retreat,0.59157343311,9.07906175544e-05,1.07003212514,0.562143884699,0.0087625304659,1.06970026228
+343,5.716666667,pose2_to_pose3_retreat,0.59080466682,9.08020327825e-05,1.07003222657,0.561375118787,0.00876254310403,1.06970036198
+344,5.733333333,pose2_to_pose3_retreat,0.590043893688,9.08441170802e-05,1.07003231927,0.56061434449,0.00876258130023,1.06970045641
+345,5.750000000,pose2_to_pose3_retreat,0.589305149861,9.08296458321e-05,1.07003223113,0.559875599952,0.00876256450337,1.06970037051
+346,5.766666667,pose2_to_pose3_retreat,0.588585722461,9.07879163952e-05,1.0700323744,0.559156173126,0.00876252442704,1.06970050601
+347,5.783333333,pose2_to_pose3_retreat,0.587881395928,9.07424133724e-05,1.07003242739,0.55845184854,0.00876248539846,1.06970055548
+348,5.800000000,pose2_to_pose3_retreat,0.587196440922,9.07429948927e-05,1.07003221026,0.557766893197,0.00876248510407,1.0697003456
+349,5.816666667,pose2_to_pose3_retreat,0.586533604241,9.08154638775e-05,1.07003222689,0.557104054657,0.00876255099557,1.06970035704
+350,5.833333333,pose2_to_pose3_retreat,0.585885357578,9.0722450282e-05,1.07003220473,0.556455809102,0.00876246196269,1.06970034058
+351,5.850000000,pose2_to_pose3_retreat,0.585249883699,9.07660579282e-05,1.07003242433,0.555820335534,0.00876250631404,1.06970055228
+352,5.866666667,pose2_to_pose3_retreat,0.584632250152,9.08647667394e-05,1.07003235567,0.555202701749,0.00876260452452,1.06970049008
+353,5.883333333,pose2_to_pose3_retreat,0.584034059369,9.08463713528e-05,1.07003223129,0.554604510679,0.00876258538237,1.06970037113
+354,5.900000000,pose2_to_pose3_retreat,0.583458978006,9.08761141084e-05,1.07003239416,0.554029428382,0.00876261177744,1.06970052927
+355,5.916666667,pose2_to_pose3_retreat,0.58290511624,9.08600136848e-05,1.07003249879,0.553475566692,0.00876259567421,1.06970062702
+356,5.933333333,pose2_to_pose3_retreat,0.582372854278,9.07419566264e-05,1.07003240305,0.552943306378,0.00876248313049,1.0697005294
+357,5.950000000,pose2_to_pose3_retreat,0.581856615686,9.07680611908e-05,1.07003244724,0.552427068199,0.00876251065711,1.06970057438
+358,5.966666667,pose2_to_pose3_retreat,0.581358164488,9.09326137042e-05,1.07003232095,0.551928614785,0.00876266787196,1.06970045276
+359,5.983333333,pose2_to_pose3_retreat,0.580885991047,9.08708472148e-05,1.07003217267,0.551456439824,0.00876260139861,1.06970031621
+360,6.000000000,pose2_to_pose3_retreat,0.580441601668,9.06792532094e-05,1.07003230228,0.551012054533,0.00876242347338,1.06970044045
+361,6.016666667,pose2_to_pose3_retreat,0.580027844619,9.07949130576e-05,1.0700324425,0.550598295804,0.0087625330413,1.06970057138
+362,6.033333333,pose2_to_pose3_retreat,0.579638970256,9.07448937512e-05,1.07003247987,0.550209421653,0.00876248366321,1.0697006067
+363,6.050000000,pose2_to_pose3_retreat,0.579272932239,9.07248875687e-05,1.07003234501,0.549843383394,0.00876246276145,1.06970046962
+364,6.066666667,pose2_to_pose3_retreat,0.578923499754,9.08431727576e-05,1.07003215762,0.549493950263,0.00876257914615,1.06970028953
+365,6.083333333,pose2_to_pose3_retreat,0.578590217123,9.08717575352e-05,1.07003216353,0.549160667914,0.00876260888343,1.06970030051
+366,6.100000000,pose2_to_pose3_retreat,0.578275104492,9.07193787541e-05,1.0700323408,0.548845556482,0.00876246029337,1.06970047042
+367,6.116666667,pose2_to_pose3_retreat,0.57797976846,9.07344697537e-05,1.07003234543,0.548550220605,0.00876247592126,1.06970047537
+368,6.133333333,pose2_to_pose3_retreat,0.577708002246,9.07906021242e-05,1.07003230998,0.548278453534,0.00876252919188,1.06970044117
+369,6.150000000,pose2_to_pose3_retreat,0.577459207352,9.08544822894e-05,1.07003213175,0.548029658744,0.00876259314383,1.06970025569
+370,6.166666667,pose2_to_pose3_retreat,0.577233364356,9.07150243493e-05,1.07003210318,0.547803814029,0.00876244811049,1.06970023401
+371,6.183333333,pose2_to_pose3_retreat,0.577030651261,9.06806501484e-05,1.0700320822,0.547601103594,0.00876242290797,1.06970021676
+372,6.200000000,pose2_to_pose3_retreat,0.57684851443,9.06531074502e-05,1.07003215087,0.547418967304,0.00876239730926,1.06970028816
+373,6.216666667,pose2_to_pose3_retreat,0.576685603643,9.06843866956e-05,1.07003239843,0.547256056828,0.00876242950375,1.0697005322
+374,6.233333333,pose2_to_pose3_retreat,0.576538686298,9.07347326792e-05,1.07003254325,0.54710913947,0.00876247967767,1.06970067375
+375,6.250000000,pose2_to_pose3_retreat,0.576407486332,9.07613764722e-05,1.07003240963,0.54697793846,0.00876250283405,1.06970054156
+376,6.266666667,pose2_to_pose3_retreat,0.576287968173,9.07783731685e-05,1.07003220942,0.546858418957,0.00876251529048,1.06970034206
+377,6.283333333,pose2_to_pose3_retreat,0.576179813401,9.07004507788e-05,1.07003220327,0.546750266441,0.00876244518801,1.06970034011
+378,6.300000000,pose2_to_pose3_retreat,0.576083746253,9.07377788539e-05,1.07003219549,0.546654196976,0.00876247459791,1.06970033162
+379,6.316666667,pose2_to_pose3_retreat,0.575999249126,9.07918713448e-05,1.07003219919,0.546569699776,0.00876252839439,1.06970033408
+380,6.333333333,pose2_to_pose3_retreat,0.575927340998,9.08236862574e-05,1.0700321958,0.546497792164,0.00876256198199,1.06970033113
+381,6.350000000,pose2_to_pose3_retreat,0.575866965384,9.08083863201e-05,1.07003246053,0.546437417685,0.00876255030596,1.06970058983
+382,6.366666667,pose2_to_pose3_retreat,0.575818024537,9.08132114137e-05,1.07003251833,0.546388476499,0.00876255407456,1.06970065012
+383,6.383333333,pose2_to_pose3_retreat,0.575778535863,9.07807865483e-05,1.07003238129,0.546348987802,0.00876252179306,1.06970051879
+384,6.400000000,pose2_to_pose3_retreat,0.575747332649,9.07009149218e-05,1.07003236585,0.546317785297,0.00876244413767,1.06970049844
+385,6.416666667,pose2_to_pose3_retreat,0.575723311045,9.06801570588e-05,1.0700324931,0.546293763246,0.00876242147052,1.06970061548
+386,6.433333333,pose2_to_pose3_retreat,0.575705022718,9.08054077e-05,1.07003245817,0.54627547375,0.00876254311711,1.06970059016
+387,6.450000000,pose2_to_pose3_retreat,0.575692287913,9.0729647271e-05,1.07003225901,0.546262738518,0.00876246599177,1.06970039326
+388,6.466666667,pose2_to_pose3_retreat,0.575683302253,9.07808176004e-05,1.07003242046,0.546253753126,0.00876251793894,1.0697005514
+389,6.483333333,pose2_to_pose3_retreat,0.575677390331,9.08171968386e-05,1.0700325673,0.54624784173,0.00876255596058,1.06970069452
+390,6.500000000,pose2_to_pose3_retreat,0.575673108047,9.07161540287e-05,1.07003242497,0.546243560351,0.00876245793246,1.06970055041
+391,6.516666667,pose2_to_pose3_retreat,0.575670080999,9.06796423004e-05,1.07003231875,0.546240533835,0.00876242331687,1.06970044648
+392,6.533333333,pose2_to_pose3_retreat,0.575668173052,9.0681984045e-05,1.07003224772,0.546238626145,0.00876242668319,1.06970037948
+393,6.550000000,pose2_to_pose3_retreat,0.575667126894,9.0682770891e-05,1.07003221615,0.546237579965,0.00876242746785,1.06970034982
+394,6.566666667,pose2_to_pose3_retreat,0.57566682716,9.06826518737e-05,1.07003221222,0.546237280112,0.00876242695747,1.06970034622
+395,6.583333333,pose2_to_pose3_retreat,0.575666769734,9.06826290712e-05,1.07003221146,0.546237222663,0.00876242685969,1.06970034553
+396,6.600000000,pose2_to_pose3_retreat,0.575666563662,9.06825472448e-05,1.07003220875,0.546237016508,0.00876242650879,1.06970034306
+397,6.616666667,pose2_to_pose3_retreat,0.57566648821,9.06825172846e-05,1.07003220776,0.546236941026,0.00876242638032,1.06970034215
+398,6.633333333,pose2_to_pose3_retreat,0.575666412023,9.06824870328e-05,1.07003220676,0.54623686481,0.00876242625059,1.06970034124
+399,6.650000000,pose2_to_pose3_retreat,0.575666135123,9.06823770824e-05,1.07003220313,0.546236587799,0.00876242577909,1.06970033792
+400,6.666666667,pose2_to_pose3_retreat,0.575666070203,9.06823513041e-05,1.07003220227,0.546236522853,0.00876242566855,1.06970033714
+401,6.683333333,pose2_to_pose3_retreat,0.57566587732,9.06822747151e-05,1.07003219974,0.546236329894,0.00876242534011,1.06970033482
+402,6.700000000,pose2_to_pose3_retreat,0.575665758369,9.06822274825e-05,1.07003219818,0.546236210895,0.00876242513756,1.0697003334
+403,6.716666667,pose2_to_pose3_retreat,0.575665638664,9.06821799504e-05,1.07003219661,0.546236091142,0.00876242493373,1.06970033196
+404,6.733333333,pose2_to_pose3_retreat,0.575665400094,9.06820852198e-05,1.07003219347,0.546235852477,0.0087624245275,1.0697003291
+405,6.750000000,pose2_to_pose3_retreat,0.575665311554,9.06770025075e-05,1.07003219374,0.546235764044,0.00876241980086,1.06970032919
+406,6.766666667,pose2_to_pose3_retreat,0.575665206639,9.06688585492e-05,1.07003219467,0.546235659316,0.00876241227705,1.06970032977
+407,6.783333333,pose2_to_pose3_retreat,0.57566508338,9.06592906786e-05,1.07003219575,0.546235536277,0.00876240343776,1.06970033046
+408,6.800000000,pose2_to_pose3_retreat,0.575664952517,9.06491324981e-05,1.07003219691,0.546235405647,0.00876239405311,1.06970033119
+409,6.816666667,pose2_to_pose3_retreat,0.575664923399,9.06468722143e-05,1.07003219716,0.54623537658,0.00876239196495,1.06970033136
+410,6.833333333,pose2_to_pose3_retreat,0.575664879792,9.06434871996e-05,1.07003219755,0.54623533305,0.0087623888377,1.0697003316
+411,6.850000000,pose2_to_pose3_retreat,0.575664850018,9.06411760068e-05,1.07003219781,0.546235303329,0.0087623867025,1.06970033177
+412,6.866666667,pose2_to_pose3_retreat,0.575664732736,9.06320721034e-05,1.07003219885,0.546235186256,0.00876237829185,1.06970033242
+413,6.883333333,pose2_to_pose3_retreat,0.575664516641,9.06240304189e-05,1.07003217942,0.546234970823,0.00876237244029,1.06970031152
+414,6.900000000,pose2_to_pose3_retreat,0.575664430975,9.06312960038e-05,1.07003214618,0.546234885752,0.00876238166675,1.06970027675
+415,6.916666667,pose2_to_pose3_retreat,0.575664379859,9.0635631355e-05,1.07003212634,0.546234834991,0.00876238717215,1.06970025601
+416,6.933333333,pose2_to_pose3_retreat,0.575664330046,9.05930227145e-05,1.07003214909,0.546234785739,0.00876234644696,1.06970027826
+417,6.950000000,pose2_to_pose3_retreat,0.575664329521,9.05174383326e-05,1.07003221684,0.546234785564,0.00876227207485,1.06970034662
+418,6.966666667,pose2_to_pose3_retreat,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571872,1.06970035246

Part2/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_04/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e6b225fe0ddf00d5668cadb658bef5a4087eb06d78786b471d4ece174b3f2f5
+size 26571309

Part2/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_04/simulation_data.csv

@@ -0,0 +1,421 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+1,0.016666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+2,0.033333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+3,0.050000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+4,0.066666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+5,0.083333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+6,0.100000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+7,0.116666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+8,0.133333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+9,0.150000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+10,0.166666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+11,0.183333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+12,0.200000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+13,0.216666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+14,0.233333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+15,0.250000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+16,0.266666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+17,0.283333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+18,0.300000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+19,0.316666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+20,0.333333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+21,0.350000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+22,0.366666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+23,0.383333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+24,0.400000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+25,0.416666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+26,0.433333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+27,0.450000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+28,0.466666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+29,0.483333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+30,0.500000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+31,0.516666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+32,0.533333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+33,0.550000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+34,0.566666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+35,0.583333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+36,0.600000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+37,0.616666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+38,0.633333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+39,0.650000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+40,0.666666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+41,0.683333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+42,0.700000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+43,0.716666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+44,0.733333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+45,0.750000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+46,0.766666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+47,0.783333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+48,0.800000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+49,0.816666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+50,0.833333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+51,0.850000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+52,0.866666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+53,0.883333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+54,0.900000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+55,0.916666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+56,0.933333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+57,0.950000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+58,0.966666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+59,0.983333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+60,1.000000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+61,1.016666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+62,1.033333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+63,1.050000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+64,1.066666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+65,1.083333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+66,1.100000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+67,1.116666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+68,1.133333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+69,1.150000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+70,1.166666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+71,1.183333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+72,1.200000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+73,1.216666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+74,1.233333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+75,1.250000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+76,1.266666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+77,1.283333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+78,1.300000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+79,1.316666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+80,1.333333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+81,1.350000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+82,1.366666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+83,1.383333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+84,1.400000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+85,1.416666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+86,1.433333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+87,1.450000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+88,1.466666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+89,1.483333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+90,1.500000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+91,1.516666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+92,1.533333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+93,1.550000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+94,1.566666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+95,1.583333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+96,1.600000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+97,1.616666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+98,1.633333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+99,1.650000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+100,1.666666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+101,1.683333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+102,1.700000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+103,1.716666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+104,1.733333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+105,1.750000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+106,1.766666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+107,1.783333333,pose1_to_pose2_press,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+108,1.800000000,pose1_to_pose2_press,0.575664655396,9.06899015681e-05,1.070032365,0.546235107504,0.00876243100905,1.06970049024
+109,1.816666667,pose1_to_pose2_press,0.575664940861,9.07607711944e-05,1.07003236828,0.546235391038,0.0087624953232,1.06970049339
+110,1.833333333,pose1_to_pose2_press,0.575665268326,9.07274198315e-05,1.0700323757,0.546235718827,0.00876246299709,1.06970049899
+111,1.850000000,pose1_to_pose2_press,0.575665671206,9.0686387848e-05,1.07003238483,0.546236122103,0.00876242322647,1.06970050587
+112,1.866666667,pose1_to_pose2_press,0.575665959172,9.06570593624e-05,1.07003239136,0.546236410353,0.00876239479957,1.06970051079
+113,1.883333333,pose1_to_pose2_press,0.575666058077,9.06469862388e-05,1.0700323936,0.546236509355,0.00876238503611,1.06970051248
+114,1.900000000,pose1_to_pose2_press,0.575666615208,9.06301363743e-05,1.07003242153,0.546237066859,0.00876236945624,1.06970054054
+115,1.916666667,pose1_to_pose2_press,0.575668593052,9.06822597075e-05,1.07003256363,0.546239045531,0.00876242475717,1.0697006922
+116,1.933333333,pose1_to_pose2_press,0.575675204432,9.09109409648e-05,1.0700321912,0.546245653394,0.00876264185823,1.06970032925
+117,1.950000000,pose1_to_pose2_press,0.575687759384,9.08170763369e-05,1.07003220498,0.546258209356,0.00876255128055,1.06970033909
+118,1.966666667,pose1_to_pose2_press,0.575710924034,9.07981790284e-05,1.07003231508,0.546281376087,0.0087625394964,1.06970045046
+119,1.983333333,pose1_to_pose2_press,0.575744857565,9.07425455977e-05,1.07003235437,0.546315310622,0.00876248700186,1.0697004827
+120,2.000000000,pose1_to_pose2_press,0.575789967849,9.07645927655e-05,1.07003239382,0.546360420721,0.00876250812945,1.06970051451
+121,2.016666667,pose1_to_pose2_press,0.57584420096,9.07079056753e-05,1.07003228859,0.546414654007,0.00876245286554,1.0697004308
+122,2.033333333,pose1_to_pose2_press,0.575907288447,9.07749590804e-05,1.07003233074,0.546477740053,0.00876251446623,1.06970045828
+123,2.050000000,pose1_to_pose2_press,0.575977450669,9.07165935409e-05,1.07003201757,0.546547902881,0.00876245818932,1.06970014587
+124,2.066666667,pose1_to_pose2_press,0.576055278748,9.06953302302e-05,1.07003234121,0.546625731136,0.00876243761511,1.06970047177
+125,2.083333333,pose1_to_pose2_press,0.576144372424,9.07957652426e-05,1.07003200388,0.546714823827,0.0087625347199,1.06970013475
+126,2.100000000,pose1_to_pose2_press,0.576246169064,9.06859692021e-05,1.07003216673,0.546816621205,0.00876242758812,1.06970030175
+127,2.116666667,pose1_to_pose2_press,0.576363582463,9.08974524097e-05,1.07003229804,0.546934032718,0.00876263266049,1.06970043278
+128,2.133333333,pose1_to_pose2_press,0.576496708372,9.08286314024e-05,1.07003234237,0.547067159024,0.00876256504329,1.06970047321
+129,2.150000000,pose1_to_pose2_press,0.576645461532,9.06608114271e-05,1.07003225172,0.547215914679,0.00876240575418,1.06970038417
+130,2.166666667,pose1_to_pose2_press,0.576807463036,9.07423827065e-05,1.07003236197,0.547377915258,0.00876248414402,1.06970049332
+131,2.183333333,pose1_to_pose2_press,0.576981483067,9.08362094817e-05,1.07003227494,0.547551933407,0.00876257169802,1.06970040918
+132,2.200000000,pose1_to_pose2_press,0.577168417477,9.07618656507e-05,1.07003220658,0.547738868729,0.00876250056377,1.06970034375
+133,2.216666667,pose1_to_pose2_press,0.577371871065,9.06541114533e-05,1.07003244069,0.547942324538,0.00876240023765,1.06970057493
+134,2.233333333,pose1_to_pose2_press,0.57759551793,9.06741430158e-05,1.07003239524,0.548165970884,0.00876241860916,1.06970053214
+135,2.250000000,pose1_to_pose2_press,0.577842124089,9.05730273682e-05,1.07003217526,0.548412578313,0.00876232203764,1.06970031817
+136,2.266666667,pose1_to_pose2_press,0.578112253856,9.06965619505e-05,1.07003252444,0.548682707286,0.0087624418376,1.0697006401
+137,2.283333333,pose1_to_pose2_press,0.578408810064,9.07974411295e-05,1.07003224975,0.54897926216,0.00876253869084,1.06970037853
+138,2.300000000,pose1_to_pose2_press,0.578727302207,9.07930921919e-05,1.07003221687,0.549297753967,0.00876253329801,1.06970034801
+139,2.316666667,pose1_to_pose2_press,0.579065741362,9.09729249547e-05,1.07003251461,0.549636190518,0.0087627042443,1.06970064444
+140,2.333333333,pose1_to_pose2_press,0.579424382397,9.08305182794e-05,1.07003238756,0.549994832846,0.00876256636065,1.06970052083
+141,2.350000000,pose1_to_pose2_press,0.57980397117,9.07005327974e-05,1.07003225125,0.550374424035,0.00876244454605,1.06970038368
+142,2.366666667,pose1_to_pose2_press,0.580201403175,9.07863571906e-05,1.07003229695,0.550771853828,0.00876252274574,1.06970042634
+143,2.383333333,pose1_to_pose2_press,0.580615892757,9.08182926134e-05,1.07003239755,0.551186343826,0.00876255614383,1.06970052818
+144,2.400000000,pose1_to_pose2_press,0.581051762544,9.07142091282e-05,1.07003236638,0.551622216009,0.00876246008384,1.06970049412
+145,2.416666667,pose1_to_pose2_press,0.581506284592,9.06838076199e-05,1.07003225958,0.552076737212,0.00876242658273,1.06970038118
+146,2.433333333,pose1_to_pose2_press,0.581980055259,9.0821136819e-05,1.07003223786,0.552550505764,0.00876255692439,1.06970036445
+147,2.450000000,pose1_to_pose2_press,0.582484149324,9.09266582195e-05,1.07003223976,0.553054598609,0.00876265863844,1.06970037491
+148,2.466666667,pose1_to_pose2_press,0.583021502796,9.08005414059e-05,1.07003243642,0.553591953272,0.00876253646411,1.06970056891
+149,2.483333333,pose1_to_pose2_press,0.583584653943,9.07735769083e-05,1.07003238511,0.554155107267,0.00876251887713,1.06970051007
+150,2.500000000,pose1_to_pose2_press,0.584168920545,9.08483377105e-05,1.07003244517,0.554739371369,0.00876258553442,1.06970058002
+151,2.516666667,pose1_to_pose2_press,0.584766618322,9.076459636e-05,1.07003232812,0.55533707004,0.00876250483949,1.06970046326
+152,2.533333333,pose1_to_pose2_press,0.58536998641,9.07431723412e-05,1.07003233927,0.555940437568,0.00876248137972,1.06970047087
+153,2.550000000,pose1_to_pose2_press,0.585979947338,9.08336513583e-05,1.07003257321,0.556550398214,0.00876257060617,1.06970069708
+154,2.566666667,pose1_to_pose2_press,0.586609817395,9.0912902439e-05,1.07003240681,0.557180267916,0.00876264890186,1.0697005371
+155,2.583333333,pose1_to_pose2_press,0.587263038768,9.07766808127e-05,1.07003240004,0.557833490284,0.00876251623849,1.06970053508
+156,2.600000000,pose1_to_pose2_press,0.587942384414,9.06586359004e-05,1.07003232922,0.558512837427,0.00876240301342,1.06970045736
+157,2.616666667,pose1_to_pose2_press,0.588638165127,9.06956648429e-05,1.07003222728,0.559208618059,0.00876243982731,1.06970035706
+158,2.633333333,pose1_to_pose2_press,0.589343213868,9.08236993857e-05,1.07003223584,0.559913665587,0.00876256416954,1.0697003766
+159,2.650000000,pose1_to_pose2_press,0.590060938964,9.08553897432e-05,1.07003229336,0.560631389665,0.00876259246906,1.06970043591
+160,2.666666667,pose1_to_pose2_press,0.590796429267,9.08031092728e-05,1.07003232567,0.561366879535,0.00876253843591,1.06970046073
+161,2.683333333,pose1_to_pose2_press,0.591544194895,9.08124153106e-05,1.07003241091,0.562114645723,0.00876254946583,1.06970054137
+162,2.700000000,pose1_to_pose2_press,0.592304913413,9.07653942208e-05,1.07003256404,0.562875365105,0.00876250528283,1.06970069206
+163,2.716666667,pose1_to_pose2_press,0.593078658849,9.08529587451e-05,1.07003244436,0.563649109894,0.00876259077893,1.06970057564
+164,2.733333333,pose1_to_pose2_press,0.593854376357,9.0732109073e-05,1.07003232873,0.564424828182,0.00876247265303,1.0697004621
+165,2.750000000,pose1_to_pose2_press,0.594630494524,9.08928817021e-05,1.07003235952,0.56520094374,0.00876262420951,1.06970048338
+166,2.766666667,pose1_to_pose2_press,0.595407495414,9.07849474696e-05,1.07003223232,0.565977947024,0.008762524616,1.06970036192
+167,2.783333333,pose1_to_pose2_press,0.596185203423,9.07828142824e-05,1.07003230962,0.566755655767,0.0087625251408,1.0697004436
+168,2.800000000,pose1_to_pose2_press,0.596969925395,9.08618580848e-05,1.07003233228,0.567540375174,0.00876259532496,1.06970046228
+169,2.816666667,pose1_to_pose2_press,0.597756140709,9.07375885594e-05,1.07003244946,0.568326592633,0.00876247818675,1.06970057552
+170,2.833333333,pose1_to_pose2_press,0.598540346341,9.0743194786e-05,1.07003239493,0.569110798445,0.00876248449887,1.06970052363
+171,2.850000000,pose1_to_pose2_press,0.599326673563,9.06673225611e-05,1.07003226851,0.56989712732,0.00876241432922,1.06970039967
+172,2.866666667,pose1_to_pose2_press,0.600114780048,9.07739574891e-05,1.07003214322,0.570685231957,0.00876251479236,1.06970027701
+173,2.883333333,pose1_to_pose2_press,0.600911787216,9.08505242271e-05,1.07003210714,0.571482237486,0.00876258560714,1.06970023606
+174,2.900000000,pose1_to_pose2_press,0.601715742975,9.08034367463e-05,1.07003217228,0.572286194433,0.00876254243732,1.06970029826
+175,2.916666667,pose1_to_pose2_press,0.602517265329,9.08376436705e-05,1.07003220455,0.57308771666,0.0087625765485,1.06970033941
+176,2.933333333,pose1_to_pose2_press,0.603309669357,9.07745911063e-05,1.0700323241,0.573880121397,0.00876251583287,1.06970045717
+177,2.950000000,pose1_to_pose2_press,0.6040850061,9.08298315412e-05,1.07003254253,0.574655457496,0.00876256860458,1.06970066825
+178,2.966666667,pose1_to_pose2_press,0.604839542815,9.08669304306e-05,1.07003236362,0.575409993618,0.00876260388375,1.06970049451
+179,2.983333333,pose1_to_pose2_press,0.605576934955,9.09071875259e-05,1.07003241171,0.576147385602,0.00876264376104,1.06970054653
+180,3.000000000,pose1_to_pose2_press,0.60630387447,9.08055848103e-05,1.07003222407,0.576874326342,0.00876254625998,1.06970035754
+181,3.016666667,pose1_to_pose2_press,0.607027133085,9.06276877247e-05,1.0700323484,0.577597586142,0.0087623721895,1.06970047683
+182,3.033333333,pose1_to_pose2_press,0.607749840224,9.07663425452e-05,1.07003219431,0.578320292717,0.00876250939439,1.06970033501
+183,3.050000000,pose1_to_pose2_press,0.608459079221,9.080145398e-05,1.07003217281,0.579029529953,0.00876253845829,1.06970031173
+184,3.066666667,pose1_to_pose2_press,0.60914917116,9.0749397074e-05,1.07003219474,0.579719621874,0.00876248619164,1.06970032992
+185,3.083333333,pose1_to_pose2_press,0.609810504677,9.08894527723e-05,1.0700323889,0.580380955183,0.00876262542895,1.06970052116
+186,3.100000000,pose1_to_pose2_press,0.610442404646,9.09108876562e-05,1.07003242002,0.581012855159,0.00876264661665,1.06970054527
+187,3.116666667,pose1_to_pose2_press,0.611038984521,9.08659404018e-05,1.07003230359,0.581609434598,0.00876260026113,1.06970043076
+188,3.133333333,pose1_to_pose2_press,0.611609306897,9.08396568853e-05,1.07003229774,0.582179756832,0.00876257366869,1.06970042955
+189,3.150000000,pose1_to_pose2_press,0.612162289147,9.0821515408e-05,1.07003249327,0.582732740385,0.00876255984059,1.06970062231
+190,3.166666667,pose1_to_pose2_press,0.612713567963,9.08125038642e-05,1.07003255696,0.583284021138,0.00876255757199,1.06970069051
+191,3.183333333,pose1_to_pose2_press,0.613268812238,9.0741803328e-05,1.07003222122,0.583839264909,0.00876248517863,1.06970035471
+192,3.200000000,pose1_to_pose2_press,0.613819141703,9.07249444123e-05,1.07003223073,0.584389594173,0.00876246748878,1.06970035813
+193,3.216666667,pose1_to_pose2_press,0.614358573856,9.08079976984e-05,1.07003235609,0.584929024463,0.00876254427215,1.06970047985
+194,3.233333333,pose1_to_pose2_press,0.614874665399,9.08534859304e-05,1.07003256599,0.585445116372,0.0087625912165,1.06970068917
+195,3.250000000,pose1_to_pose2_press,0.615358303954,9.08093102817e-05,1.07003238612,0.585928755419,0.0087625494873,1.0697005217
+196,3.266666667,pose1_to_pose2_press,0.615804432934,9.08630625586e-05,1.07003223499,0.586374883905,0.00876260196219,1.06970037346
+197,3.283333333,pose1_to_pose2_press,0.616231477614,9.08811052708e-05,1.07003226988,0.586801928228,0.00876261890831,1.06970040438
+198,3.300000000,pose1_to_pose2_press,0.616640835386,9.08072993465e-05,1.07003245834,0.587211286119,0.00876254552687,1.06970058612
+199,3.316666667,pose1_to_pose2_press,0.617033634276,9.0730501502e-05,1.07003257518,0.587604085118,0.00876246913557,1.06970069843
+200,3.333333333,pose1_to_pose2_press,0.61741026689,9.07138767099e-05,1.0700324232,0.587980717853,0.00876245319424,1.06970054882
+201,3.350000000,pose1_to_pose2_press,0.617767698759,9.0737582838e-05,1.07003223936,0.588338150071,0.00876247861538,1.06970036758
+202,3.366666667,pose1_to_pose2_press,0.618102014331,9.08535383114e-05,1.07003222574,0.588672464399,0.00876259078215,1.06970035838
+203,3.383333333,pose1_to_pose2_press,0.618410271388,9.08184862891e-05,1.0700323409,0.588980721421,0.00876255573734,1.06970047226
+204,3.400000000,pose1_to_pose2_press,0.618694108964,9.08368222176e-05,1.07003209614,0.589264557616,0.00876256984953,1.06970023289
+205,3.416666667,pose1_to_pose2_press,0.61895543246,9.07668560485e-05,1.07003225765,0.589525884126,0.00876251029623,1.06970039442
+206,3.433333333,pose1_to_pose2_press,0.619197768964,9.06699969136e-05,1.07003224966,0.589768222447,0.00876241962195,1.06970038435
+207,3.450000000,pose1_to_pose2_press,0.619426244915,9.07825900045e-05,1.07003241516,0.589996695315,0.00876252183229,1.06970054712
+208,3.466666667,pose1_to_pose2_press,0.61964288431,9.09248992396e-05,1.07003241277,0.590213332088,0.00876265547314,1.06970054536
+209,3.483333333,pose1_to_pose2_press,0.619844843636,9.0876799036e-05,1.07003230664,0.590415292522,0.00876261122923,1.06970043751
+210,3.500000000,pose1_to_pose2_press,0.620030571509,9.07413382486e-05,1.07003238963,0.590601021608,0.00876247997818,1.069700519
+211,3.516666667,pose1_to_pose2_press,0.620197266699,9.07305304347e-05,1.07003219437,0.590767717345,0.00876247146226,1.06970033225
+212,3.533333333,pose1_to_pose2_press,0.620345278693,9.0911326026e-05,1.07003227856,0.590915729375,0.00876265205083,1.0697004058
+213,3.550000000,pose1_to_pose2_press,0.62047310831,9.07265883572e-05,1.07003244947,0.591043560725,0.00876247356578,1.06970058212
+214,3.566666667,pose1_to_pose2_press,0.620587005232,9.07142887201e-05,1.07003220497,0.59115745506,0.00876245283379,1.06970034376
+215,3.583333333,pose1_to_pose2_press,0.620688658498,9.08008317364e-05,1.07003230678,0.591259107572,0.00876253663405,1.06970043969
+216,3.600000000,pose1_to_pose2_press,0.620779803148,9.08084266026e-05,1.07003213901,0.591350252856,0.00876254641768,1.06970027869
+217,3.616666667,pose1_to_pose2_press,0.620860477539,9.07696865994e-05,1.07003214035,0.591430928433,0.00876251192358,1.06970028018
+218,3.633333333,pose1_to_pose2_press,0.620930260924,9.07751575947e-05,1.07003241863,0.591500712031,0.00876251798132,1.06970054878
+219,3.650000000,pose1_to_pose2_press,0.620989527664,9.0771107604e-05,1.07003235869,0.591559978451,0.00876251297045,1.06970048993
+220,3.666666667,pose1_to_pose2_press,0.621037676518,9.07427577834e-05,1.07003205526,0.591608126789,0.00876248328181,1.06970019766
+221,3.683333333,pose1_to_pose2_press,0.621077340727,9.07211558917e-05,1.0700321109,0.591647791029,0.00876246166247,1.06970025371
+222,3.700000000,pose1_to_pose2_press,0.621109159662,9.06531875369e-05,1.07003236151,0.591679612792,0.00876240276531,1.06970049102
+223,3.716666667,pose1_to_pose2_press,0.621134681272,9.09585333179e-05,1.07003242914,0.591705129385,0.00876269195158,1.0697005656
+224,3.733333333,pose1_to_pose2_press,0.621154576266,9.09125459425e-05,1.07003255192,0.591725025464,0.00876264926435,1.06970068257
+225,3.750000000,pose1_to_pose2_press,0.6211696977,9.07549295107e-05,1.07003222956,0.591740148467,0.00876249697764,1.06970036496
+226,3.766666667,pose1_to_pose2_press,0.621180902039,9.07400725796e-05,1.07003194648,0.591751352352,0.00876248065021,1.06970008627
+227,3.783333333,pose1_to_pose2_press,0.621188440135,9.09243378012e-05,1.07003195318,0.591758887823,0.00876265590531,1.06970009072
+228,3.800000000,pose1_to_pose2_press,0.621193806047,9.09502982512e-05,1.07003216697,0.591764254798,0.00876268550217,1.06970030441
+229,3.816666667,pose1_to_pose2_press,0.621197340729,9.09528080886e-05,1.07003232159,0.591767790416,0.00876269121006,1.06970045891
+230,3.833333333,pose1_to_pose2_press,0.62119973762,9.0907185619e-05,1.07003238015,0.591770187679,0.00876264681928,1.06970051572
+231,3.850000000,pose1_to_pose2_press,0.621201293935,9.08775627126e-05,1.07003241817,0.591771744234,0.00876261799611,1.06970055261
+232,3.866666667,pose1_to_pose2_press,0.62120208663,9.08624745251e-05,1.07003243754,0.591772537053,0.00876260331527,1.0697005714
+233,3.883333333,pose1_to_pose2_press,0.621202598083,9.08485387142e-05,1.0700324463,0.591773048703,0.00876259002191,1.0697005792
+234,3.900000000,pose1_to_pose2_press,0.621203059118,9.08341415837e-05,1.07003245256,0.591773509967,0.00876257636975,1.06970058434
+235,3.916666667,pose1_to_pose2_press,0.621203403307,9.08233932717e-05,1.07003245724,0.591773854328,0.0087625661776,1.06970058818
+236,3.933333333,pose1_to_pose2_press,0.62120370704,9.08139083427e-05,1.07003246136,0.591774158212,0.00876255718346,1.06970059157
+237,3.950000000,pose1_to_pose2_press,0.621204108085,9.08013845638e-05,1.07003246681,0.591774559456,0.00876254530771,1.06970059605
+238,3.966666667,pose1_to_pose2_press,0.621204349178,9.07938557348e-05,1.07003247008,0.59177480067,0.00876253816845,1.06970059874
+239,3.983333333,pose1_to_pose2_press,0.621204457514,9.07904726488e-05,1.07003247156,0.591774909059,0.00876253496042,1.06970059995
+240,4.000000000,pose1_to_pose2_press,0.621204596604,9.07861291641e-05,1.07003247345,0.591775048218,0.00876253084168,1.0697006015
+241,4.016666667,pose1_to_pose2_press,0.62120465867,9.07841909579e-05,1.07003247429,0.591775110316,0.00876252900377,1.06970060219
+242,4.033333333,pose1_to_pose2_press,0.621204683772,9.07834070906e-05,1.07003247463,0.59177513543,0.00876252826046,1.06970060247
+243,4.050000000,pose1_to_pose2_press,0.621204816744,9.07792546501e-05,1.07003247644,0.591775268468,0.00876252432288,1.06970060396
+244,4.066666667,pose1_to_pose2_press,0.621205373817,9.07668112859e-05,1.07003242348,0.591775825426,0.00876251148239,1.06970055058
+245,4.083333333,pose1_to_pose2_press,0.621205839876,9.07622754182e-05,1.07003230738,0.591776290926,0.00876250507559,1.06970043523
+246,4.100000000,pose1_to_pose2_press,0.621205954563,9.07611592451e-05,1.07003227882,0.591776405474,0.00876250349902,1.06970040684
+247,4.116666667,pose1_to_pose2_press,0.621206269047,9.0758098566e-05,1.07003220048,0.591776719581,0.00876249917589,1.06970032901
+248,4.133333333,pose1_to_pose2_press,0.621206693499,9.07567990198e-05,1.07003215478,0.591777143667,0.00876249673524,1.06970028615
+249,4.150000000,pose1_to_pose2_press,0.621206739084,9.07578306263e-05,1.07003217471,0.591777189271,0.00876249787709,1.06970030727
+250,4.166666667,pose1_to_pose2_press,0.621206751985,9.07581226016e-05,1.07003218035,0.591777202179,0.00876249820027,1.06970031325
+251,4.183333333,pose1_to_pose2_press,0.621206934966,9.07622635924e-05,1.07003226033,0.591777385241,0.00876250278381,1.06970039803
+252,4.200000000,pose1_to_pose2_press,0.621206975654,9.07631843818e-05,1.07003227812,0.591777425947,0.008762503803,1.06970041689
+253,4.216666667,pose1_to_pose2_press,0.621207136546,9.07052968666e-05,1.0700322902,0.591777587923,0.00876244972644,1.06970043266
+254,4.233333333,pose1_to_pose2_press,0.621207169122,9.0688595855e-05,1.07003228794,0.591777620801,0.00876243407402,1.0697004311
+255,4.250000000,pose1_to_pose2_press,0.62120724073,9.07151979453e-05,1.07003230048,0.591777692141,0.00876245964137,1.06970044042
+256,4.266666667,pose1_to_pose2_press,0.62120725904,9.07329046141e-05,1.07003230671,0.591777710223,0.00876247650795,1.069700445
+257,4.283333333,pose2_hold,0.62120725904,9.07329046141e-05,1.07003230671,0.591777710225,0.00876247650853,1.069700445
+258,4.300000000,pose2_hold,0.62120725904,9.07329046141e-05,1.07003230671,0.591777710225,0.00876247650806,1.069700445
+259,4.316666667,pose2_hold,0.62120725904,9.07329046141e-05,1.07003230671,0.591777710226,0.00876247650691,1.069700445
+260,4.333333333,pose2_hold,0.62120725904,9.07329046141e-05,1.07003230671,0.591777710226,0.0087624765069,1.069700445
+261,4.350000000,pose2_hold,0.62120725904,9.07329046141e-05,1.07003230671,0.591777710226,0.00876247650693,1.069700445
+262,4.366666667,pose2_hold,0.62120725904,9.07329046141e-05,1.07003230671,0.591777710226,0.00876247650692,1.069700445
+263,4.383333333,pose2_hold,0.62120725904,9.07329046141e-05,1.07003230671,0.591777710226,0.00876247650698,1.069700445
+264,4.400000000,pose2_hold,0.62120725904,9.07329046141e-05,1.07003230671,0.591777710226,0.00876247650706,1.069700445
+265,4.416666667,pose2_hold,0.62120725904,9.07329046141e-05,1.07003230671,0.591777710226,0.00876247650711,1.069700445
+266,4.433333333,pose2_hold,0.62120725904,9.07329046141e-05,1.07003230671,0.591777710226,0.00876247650715,1.069700445
+267,4.450000000,pose2_hold,0.62120725904,9.07329046141e-05,1.07003230671,0.591777710226,0.00876247650719,1.069700445
+268,4.466666667,pose2_hold,0.62120725904,9.07329046141e-05,1.07003230671,0.591777710227,0.00876247650722,1.069700445
+269,4.483333333,pose2_hold,0.62120725904,9.07329046141e-05,1.07003230671,0.591777710227,0.00876247650725,1.069700445
+270,4.500000000,pose2_hold,0.62120725904,9.07329046141e-05,1.07003230671,0.591777710227,0.00876247650728,1.069700445
+271,4.516666667,pose2_hold,0.62120725904,9.07329046141e-05,1.07003230671,0.591777710227,0.0087624765073,1.069700445
+272,4.533333333,pose2_hold,0.62120725904,9.07329046141e-05,1.07003230671,0.591777710227,0.0087624765072,1.069700445
+273,4.550000000,pose2_to_pose3_retreat,0.62120725904,9.07329046141e-05,1.07003230671,0.591777710227,0.00876247650785,1.069700445
+274,4.566666667,pose2_to_pose3_retreat,0.621207231585,9.07362956386e-05,1.0700322762,0.591777682612,0.00876247939766,1.06970041559
+275,4.583333333,pose2_to_pose3_retreat,0.62120720335,9.07397829209e-05,1.07003224482,0.591777654213,0.00876248236949,1.06970038535
+276,4.600000000,pose2_to_pose3_retreat,0.621207194848,9.07408330418e-05,1.07003223538,0.591777645662,0.0087624832644,1.06970037624
+277,4.616666667,pose2_to_pose3_retreat,0.621207137974,9.07477852458e-05,1.07003217428,0.591777588465,0.00876248920449,1.06970031732
+278,4.633333333,pose2_to_pose3_retreat,0.621206984165,9.07625047197e-05,1.07003212778,0.591777434287,0.00876250266127,1.06970027052
+279,4.650000000,pose2_to_pose3_retreat,0.621206759955,9.07839616958e-05,1.07003205999,0.591777209538,0.0087625222776,1.06970020231
+280,4.666666667,pose2_to_pose3_retreat,0.621206157681,9.07905867639e-05,1.07003219047,0.591776607447,0.00876252942149,1.06970032998
+281,4.683333333,pose2_to_pose3_retreat,0.621204795169,9.07961140574e-05,1.0700322745,0.591775244714,0.00876253415783,1.06970041308
+282,4.700000000,pose2_to_pose3_retreat,0.621200079532,9.07465762823e-05,1.07003242008,0.591770530002,0.00876248777898,1.06970055907
+283,4.716666667,pose2_to_pose3_retreat,0.621190296877,9.07760193579e-05,1.0700323308,0.591760746616,0.00876251452442,1.06970046578
+284,4.733333333,pose2_to_pose3_retreat,0.621170031251,9.07332752896e-05,1.07003232732,0.59174048302,0.00876247858436,1.06970046047
+285,4.750000000,pose2_to_pose3_retreat,0.621138655615,9.08693666709e-05,1.07003230709,0.591709104765,0.00876260618394,1.06970044811
+286,4.766666667,pose2_to_pose3_retreat,0.621094559209,9.07475402328e-05,1.07003237979,0.591665010437,0.0087624911856,1.06970051529
+287,4.783333333,pose2_to_pose3_retreat,0.621039905801,9.07716675544e-05,1.07003221159,0.591610355585,0.00876251037531,1.06970034543
+288,4.800000000,pose2_to_pose3_retreat,0.620974949363,9.08002082272e-05,1.07003225846,0.591545399489,0.00876254047577,1.06970039647
+289,4.816666667,pose2_to_pose3_retreat,0.620902952788,9.0789060238e-05,1.07003225257,0.591473403774,0.00876253205117,1.06970038727
+290,4.833333333,pose2_to_pose3_retreat,0.620823988216,9.08307140565e-05,1.07003214887,0.591394438037,0.00876256941673,1.06970028343
+291,4.850000000,pose2_to_pose3_retreat,0.620734650655,9.08568922209e-05,1.07003223692,0.59130510005,0.00876259381486,1.0697003699
+292,4.866666667,pose2_to_pose3_retreat,0.620634007489,9.08457355054e-05,1.07003248403,0.591204457421,0.00876258407399,1.06970060948
+293,4.883333333,pose2_to_pose3_retreat,0.620519403495,9.08465513483e-05,1.07003244966,0.591089853566,0.00876258529737,1.06970057583
+294,4.900000000,pose2_to_pose3_retreat,0.620389720609,9.07531441692e-05,1.07003222927,0.590960170497,0.00876249141567,1.06970036113
+295,4.916666667,pose2_to_pose3_retreat,0.620243458081,9.07695273775e-05,1.07003244997,0.590813908862,0.00876251065481,1.06970058139
+296,4.933333333,pose2_to_pose3_retreat,0.620080962302,9.06208124087e-05,1.07003224805,0.590651413954,0.00876236485994,1.06970038228
+297,4.950000000,pose2_to_pose3_retreat,0.619901756166,9.05551338013e-05,1.07003220067,0.590472209071,0.00876230331555,1.06970033489
+298,4.966666667,pose2_to_pose3_retreat,0.61970308563,9.06372445492e-05,1.07003226941,0.590273538244,0.00876238435077,1.06970040565
+299,4.983333333,pose2_to_pose3_retreat,0.619484513229,9.07555360657e-05,1.07003226952,0.590054964617,0.00876249824232,1.0697004044
+300,5.000000000,pose2_to_pose3_retreat,0.619243601524,9.07806613269e-05,1.07003226336,0.589814052415,0.00876252136527,1.06970039459
+301,5.016666667,pose2_to_pose3_retreat,0.618982512952,9.07510294039e-05,1.07003232056,0.589552963905,0.00876249189408,1.06970045617
+302,5.033333333,pose2_to_pose3_retreat,0.618702266446,9.08031483086e-05,1.07003225852,0.589272717045,0.00876254288875,1.0697004032
+303,5.050000000,pose2_to_pose3_retreat,0.618405461785,9.08315108634e-05,1.07003222206,0.588975914763,0.00876257864412,1.06970035248
+304,5.066666667,pose2_to_pose3_retreat,0.61809277834,9.08588776022e-05,1.0700321068,0.588663231035,0.00876260494157,1.06970024026
+305,5.083333333,pose2_to_pose3_retreat,0.617760623499,9.0794848872e-05,1.07003195032,0.588331075246,0.00876253787131,1.06970009457
+306,5.100000000,pose2_to_pose3_retreat,0.617405075378,9.07686397961e-05,1.0700321782,0.587975527195,0.00876251151294,1.06970031911
+307,5.116666667,pose2_to_pose3_retreat,0.617022319313,9.07727722449e-05,1.07003234213,0.587592770398,0.00876251250281,1.06970047349
+308,5.133333333,pose2_to_pose3_retreat,0.61661355629,9.08651192882e-05,1.07003235498,0.587184006364,0.00876260103061,1.06970048376
+309,5.150000000,pose2_to_pose3_retreat,0.616180602875,9.08541469824e-05,1.07003237925,0.586751053239,0.00876259087927,1.06970051062
+310,5.166666667,pose2_to_pose3_retreat,0.615724811046,9.06848194514e-05,1.07003242296,0.586295262639,0.00876242542778,1.06970055391
+311,5.183333333,pose2_to_pose3_retreat,0.615249943266,9.07930912443e-05,1.07003235468,0.585820394836,0.00876253334442,1.06970048636
+312,5.200000000,pose2_to_pose3_retreat,0.614756644799,9.07901670745e-05,1.07003246872,0.585327096155,0.00876252916518,1.06970059383
+313,5.216666667,pose2_to_pose3_retreat,0.614242412069,9.06906850369e-05,1.07003222603,0.584812866061,0.00876243866589,1.06970035928
+314,5.233333333,pose2_to_pose3_retreat,0.613706830588,9.07623943499e-05,1.07003231895,0.584277282213,0.0087625020968,1.06970045001
+315,5.250000000,pose2_to_pose3_retreat,0.613146636118,9.08857010199e-05,1.07003241507,0.583717086665,0.00876262175828,1.06970054786
+316,5.266666667,pose2_to_pose3_retreat,0.612562569468,9.07786547953e-05,1.07003237466,0.583133020891,0.00876251768664,1.06970050784
+317,5.283333333,pose2_to_pose3_retreat,0.611953995878,9.07432285134e-05,1.07003227323,0.582524447792,0.00876248387083,1.06970040513
+318,5.300000000,pose2_to_pose3_retreat,0.611330172195,9.07352260221e-05,1.07003226938,0.581900625137,0.00876247935162,1.06970040107
+319,5.316666667,pose2_to_pose3_retreat,0.610697825663,9.06945290828e-05,1.07003230378,0.581268278951,0.00876243982,1.06970043526
+320,5.333333333,pose2_to_pose3_retreat,0.610059080013,9.07936413038e-05,1.07003225935,0.580629530782,0.00876253022143,1.06970038676
+321,5.350000000,pose2_to_pose3_retreat,0.60941345924,9.07823387245e-05,1.07003238526,0.579983911864,0.00876252496428,1.06970050625
+322,5.366666667,pose2_to_pose3_retreat,0.608756042527,9.06821002015e-05,1.07003219975,0.579326495955,0.00876242811658,1.06970033877
+323,5.383333333,pose2_to_pose3_retreat,0.608078538569,9.07849766382e-05,1.07003230797,0.578648990659,0.00876252622393,1.06970043998
+324,5.400000000,pose2_to_pose3_retreat,0.607369001217,9.07981895915e-05,1.07003228187,0.577939452621,0.00876253693614,1.06970040825
+325,5.416666667,pose2_to_pose3_retreat,0.606625739675,9.07858938229e-05,1.07003227744,0.577196190727,0.00876252368079,1.06970041018
+326,5.433333333,pose2_to_pose3_retreat,0.605845296187,9.06673082984e-05,1.07003230699,0.576415748907,0.00876241096238,1.06970044563
+327,5.450000000,pose2_to_pose3_retreat,0.60504363563,9.06636717799e-05,1.07003238796,0.575614088935,0.00876240906842,1.06970052102
+328,5.466666667,pose2_to_pose3_retreat,0.60422741732,9.08231917405e-05,1.07003240722,0.574797868413,0.00876256102962,1.06970053971
+329,5.483333333,pose2_to_pose3_retreat,0.603420470516,9.07557394798e-05,1.07003232236,0.573990921956,0.00876249487757,1.06970045738
+330,5.500000000,pose2_to_pose3_retreat,0.602626806298,9.06496993795e-05,1.07003238971,0.573197259318,0.00876239384934,1.06970051464
+331,5.516666667,pose2_to_pose3_retreat,0.601845738636,9.0895820621e-05,1.07003245336,0.572416188361,0.0087626290111,1.06970058402
+332,5.533333333,pose2_to_pose3_retreat,0.60106051354,9.08731908568e-05,1.07003244691,0.571630962594,0.00876260420192,1.06970058009
+333,5.550000000,pose2_to_pose3_retreat,0.600263671083,9.07128674714e-05,1.07003223231,0.57083412317,0.00876245411344,1.06970036567
+334,5.566666667,pose2_to_pose3_retreat,0.599441985185,9.07455811719e-05,1.07003218994,0.57001243678,0.00876248538075,1.06970032655
+335,5.583333333,pose2_to_pose3_retreat,0.598601495175,9.07663095646e-05,1.07003218454,0.56917194822,0.00876251112897,1.06970032492
+336,5.600000000,pose2_to_pose3_retreat,0.59774924852,9.06643832694e-05,1.07003235775,0.568319702408,0.0087624120567,1.06970049767
+337,5.616666667,pose2_to_pose3_retreat,0.596910586565,9.07342658065e-05,1.07003226186,0.567481038708,0.00876247605049,1.06970040234
+338,5.633333333,pose2_to_pose3_retreat,0.596101879463,9.07958035541e-05,1.07003234157,0.566672330648,0.00876253410518,1.0697004759
+339,5.650000000,pose2_to_pose3_retreat,0.595313809141,9.0796907797e-05,1.07003235139,0.565884260372,0.00876253530873,1.06970048421
+340,5.666666667,pose2_to_pose3_retreat,0.594543568595,9.08092811405e-05,1.07003215986,0.565114020077,0.00876254866425,1.06970029629
+341,5.683333333,pose2_to_pose3_retreat,0.593774839911,9.08460439048e-05,1.07003215562,0.564345291477,0.00876258557432,1.06970028875
+342,5.700000000,pose2_to_pose3_retreat,0.59299803097,9.08646461147e-05,1.07003243593,0.563568480836,0.00876259843355,1.06970056771
+343,5.716666667,pose2_to_pose3_retreat,0.592208479706,9.06156033989e-05,1.0700321954,0.562778932761,0.00876236036812,1.06970033127
+344,5.733333333,pose2_to_pose3_retreat,0.591417296652,9.07853547879e-05,1.07003221038,0.56198774876,0.00876252681881,1.06970034376
+345,5.750000000,pose2_to_pose3_retreat,0.590629808285,9.07612959767e-05,1.07003224352,0.561200261352,0.00876250582438,1.06970037176
+346,5.766666667,pose2_to_pose3_retreat,0.589865753811,9.08506754878e-05,1.07003242228,0.560436206109,0.00876259268657,1.0697005529
+347,5.783333333,pose2_to_pose3_retreat,0.589123726148,9.07616946596e-05,1.07003227481,0.559694177347,0.00876250011979,1.06970040913
+348,5.800000000,pose2_to_pose3_retreat,0.588406534937,9.07290758232e-05,1.07003212091,0.558976986211,0.00876246783447,1.06970025721
+349,5.816666667,pose2_to_pose3_retreat,0.587708325891,9.07670378296e-05,1.07003215658,0.558278777451,0.00876250663297,1.06970028934
+350,5.833333333,pose2_to_pose3_retreat,0.587025666391,9.07775325225e-05,1.07003226469,0.557596117926,0.00876251702778,1.06970039801
+351,5.850000000,pose2_to_pose3_retreat,0.58635942537,9.07813816471e-05,1.07003239362,0.556929876714,0.00876252037829,1.06970053208
+352,5.866666667,pose2_to_pose3_retreat,0.585708223147,9.08211286318e-05,1.07003250087,0.556278674348,0.00876255962236,1.06970063883
+353,5.883333333,pose2_to_pose3_retreat,0.585072591944,9.07873299618e-05,1.07003229665,0.555643043273,0.00876252624758,1.06970043424
+354,5.900000000,pose2_to_pose3_retreat,0.584456336609,9.08485322269e-05,1.07003223193,0.555026787416,0.00876258561102,1.06970036567
+355,5.916666667,pose2_to_pose3_retreat,0.583867134603,9.07919674595e-05,1.07003243537,0.55443758623,0.00876253183732,1.06970056962
+356,5.933333333,pose2_to_pose3_retreat,0.583298786641,9.06767803594e-05,1.07003222139,0.553869239612,0.00876242145872,1.069700362
+357,5.950000000,pose2_to_pose3_retreat,0.582748696767,9.06622078756e-05,1.07003232632,0.55331915048,0.00876240895858,1.06970045527
+358,5.966666667,pose2_to_pose3_retreat,0.582215564734,9.06661739448e-05,1.07003231417,0.55278601733,0.00876240869102,1.06970043179
+359,5.983333333,pose2_to_pose3_retreat,0.58169967884,9.07097265326e-05,1.0700323859,0.552270131184,0.00876245174321,1.06970051292
+360,6.000000000,pose2_to_pose3_retreat,0.581206017364,9.07023437161e-05,1.07003239482,0.551776469638,0.00876244438369,1.06970052853
+361,6.016666667,pose2_to_pose3_retreat,0.580739378163,9.06714735074e-05,1.0700323496,0.551309830307,0.00876241295702,1.06970048028
+362,6.033333333,pose2_to_pose3_retreat,0.580305242697,9.0729361937e-05,1.07003235425,0.550875694474,0.00876246950239,1.06970048267
+363,6.050000000,pose2_to_pose3_retreat,0.579898200568,9.07828718156e-05,1.07003232952,0.550468651789,0.00876252107336,1.06970045721
+364,6.066666667,pose2_to_pose3_retreat,0.579516346217,9.06179294588e-05,1.07003223624,0.550086798645,0.00876236026555,1.06970036466
+365,6.083333333,pose2_to_pose3_retreat,0.579153258705,9.08393584107e-05,1.0700322084,0.54972370868,0.00876257364446,1.06970034361
+366,6.100000000,pose2_to_pose3_retreat,0.578807493176,9.07407708932e-05,1.07003217396,0.549377945492,0.008762483274,1.06970031623
+367,6.116666667,pose2_to_pose3_retreat,0.578479621542,9.0703845892e-05,1.07003242742,0.549050074207,0.00876244698071,1.06970055526
+368,6.133333333,pose2_to_pose3_retreat,0.578171432894,9.08646079793e-05,1.07003238781,0.548741883316,0.0087626000727,1.06970051403
+369,6.150000000,pose2_to_pose3_retreat,0.577885660072,9.08619910425e-05,1.07003234867,0.548456111167,0.00876259981749,1.06970047701
+370,6.166666667,pose2_to_pose3_retreat,0.577622628488,9.07938390155e-05,1.07003235085,0.548193080516,0.00876253485347,1.06970047979
+371,6.183333333,pose2_to_pose3_retreat,0.577382269404,9.08220938989e-05,1.07003242323,0.547952719633,0.0087625568416,1.0697005481
+372,6.200000000,pose2_to_pose3_retreat,0.577166027652,9.07996694132e-05,1.07003241036,0.547736477514,0.00876253318977,1.06970053579
+373,6.216666667,pose2_to_pose3_retreat,0.576970401567,9.06236973464e-05,1.07003225167,0.547540855406,0.0087623711171,1.06970038758
+374,6.233333333,pose2_to_pose3_retreat,0.57679388362,9.06423850133e-05,1.0700324385,0.547364337668,0.00876239038031,1.06970057085
+375,6.250000000,pose2_to_pose3_retreat,0.576634365184,9.08460225915e-05,1.07003224605,0.54720481552,0.00876258126253,1.06970037443
+376,6.266666667,pose2_to_pose3_retreat,0.576492150206,9.08740198316e-05,1.07003222364,0.547062600541,0.00876260931008,1.06970035338
+377,6.283333333,pose2_to_pose3_retreat,0.576362863893,9.0905027552e-05,1.07003245999,0.546933314685,0.00876264200886,1.06970059353
+378,6.300000000,pose2_to_pose3_retreat,0.57624596887,9.08863525198e-05,1.07003250375,0.546816420052,0.00876262469013,1.0697006382
+379,6.316666667,pose2_to_pose3_retreat,0.576142507538,9.0785956863e-05,1.07003232834,0.546712959964,0.0087625285711,1.06970046461
+380,6.333333333,pose2_to_pose3_retreat,0.576050804142,9.07149013679e-05,1.07003226162,0.546621257351,0.00876245998022,1.06970039328
+381,6.350000000,pose2_to_pose3_retreat,0.575970790066,9.07275771856e-05,1.07003240012,0.546541242914,0.00876247116233,1.06970052458
+382,6.366666667,pose2_to_pose3_retreat,0.575903142655,9.06994206735e-05,1.07003237735,0.5464735961,0.00876244551523,1.06970051443
+383,6.383333333,pose2_to_pose3_retreat,0.575847915888,9.07628713189e-05,1.07003224878,0.546418367174,0.00876250158616,1.06970038433
+384,6.400000000,pose2_to_pose3_retreat,0.575802924478,9.08958252726e-05,1.070032616,0.54637337344,0.00876262617708,1.06970073907
+385,6.416666667,pose2_to_pose3_retreat,0.575766669308,9.07652440288e-05,1.07003246798,0.546337120228,0.00876250256582,1.06970059966
+386,6.433333333,pose2_to_pose3_retreat,0.575738863607,9.07704943546e-05,1.07003237194,0.546309316148,0.0087625132505,1.06970050181
+387,6.450000000,pose2_to_pose3_retreat,0.575717003328,9.08709435225e-05,1.07003233414,0.546287453092,0.0087626043505,1.06970046607
+388,6.466666667,pose2_to_pose3_retreat,0.575700654588,9.09069518778e-05,1.07003239137,0.546271103218,0.00876263650644,1.06970052326
+389,6.483333333,pose2_to_pose3_retreat,0.575688817632,9.08734645567e-05,1.07003241951,0.546259267457,0.00876260711995,1.06970055273
+390,6.500000000,pose2_to_pose3_retreat,0.575680910755,9.08358070597e-05,1.07003229954,0.546251361849,0.0087625740812,1.06970044111
+391,6.516666667,pose2_to_pose3_retreat,0.575675857402,9.07549998324e-05,1.07003233429,0.546246309741,0.00876249716537,1.06970046683
+392,6.533333333,pose2_to_pose3_retreat,0.575672540225,9.06948953e-05,1.07003237245,0.546242993434,0.00876243973262,1.06970049737
+393,6.550000000,pose2_to_pose3_retreat,0.575670445957,9.06857405364e-05,1.07003240233,0.54624089946,0.00876243180673,1.06970053332
+394,6.566666667,pose2_to_pose3_retreat,0.575669034573,9.06795708928e-05,1.07003242246,0.546239488275,0.00876242646526,1.06970055756
+395,6.583333333,pose2_to_pose3_retreat,0.57566828596,9.06762984486e-05,1.07003243315,0.546238739767,0.00876242363209,1.06970057041
+396,6.600000000,pose2_to_pose3_retreat,0.575667921061,9.0668109997e-05,1.07003242441,0.546238374928,0.00876241565015,1.06970056175
+397,6.616666667,pose2_to_pose3_retreat,0.575667849493,9.06643355914e-05,1.07003241811,0.546238303375,0.00876241191374,1.06970055514
+398,6.633333333,pose2_to_pose3_retreat,0.57566768366,9.06555897498e-05,1.07003240351,0.546238137576,0.00876240325596,1.06970053982
+399,6.650000000,pose2_to_pose3_retreat,0.575667486749,9.06452048398e-05,1.07003238618,0.546237940705,0.00876239297561,1.06970052163
+400,6.666666667,pose2_to_pose3_retreat,0.575667342146,9.06375786852e-05,1.07003237345,0.546237796132,0.00876238542624,1.06970050827
+401,6.683333333,pose2_to_pose3_retreat,0.575667262555,9.0633381114e-05,1.07003236644,0.546237716557,0.00876238127093,1.06970050092
+402,6.700000000,pose2_to_pose3_retreat,0.575667215363,9.06308922912e-05,1.07003236229,0.546237669375,0.00876237880716,1.06970049656
+403,6.716666667,pose2_to_pose3_retreat,0.57566698292,9.06186334893e-05,1.07003234183,0.546237436979,0.00876236667179,1.06970047509
+404,6.733333333,pose2_to_pose3_retreat,0.575666589827,9.05979022374e-05,1.07003230722,0.546237043967,0.00876234614926,1.06970043878
+405,6.750000000,pose2_to_pose3_retreat,0.575666119725,9.05731095444e-05,1.07003226584,0.546236573961,0.00876232160619,1.06970039536
+406,6.766666667,pose2_to_pose3_retreat,0.575665913372,9.0562226761e-05,1.07003224768,0.546236367651,0.00876231083298,1.0697003763
+407,6.783333333,pose2_to_pose3_retreat,0.575665711437,9.05571284428e-05,1.07003223509,0.54623616572,0.00876230571473,1.0697003628
+408,6.800000000,pose2_to_pose3_retreat,0.575665505214,9.05998115052e-05,1.07003226699,0.546235959181,0.00876234728059,1.06970039347
+409,6.816666667,pose2_to_pose3_retreat,0.575665353498,9.06312127997e-05,1.07003229045,0.546235807234,0.00876237785997,1.06970041604
+410,6.833333333,pose2_to_pose3_retreat,0.575665344204,9.06331363837e-05,1.07003229189,0.546235797926,0.0087623797332,1.06970041742
+411,6.850000000,pose2_to_pose3_retreat,0.575665176041,9.06679418221e-05,1.0700323179,0.546235629506,0.00876241362762,1.06970044243
+412,6.866666667,pose2_to_pose3_retreat,0.575664853648,9.07346692071e-05,1.07003236776,0.546235306619,0.00876247860845,1.06970049038
+413,6.883333333,pose2_to_pose3_retreat,0.575664691443,9.07384378128e-05,1.07003234364,0.546235144642,0.00876248316507,1.06970046664
+414,6.900000000,pose2_to_pose3_retreat,0.575664652301,9.07273442328e-05,1.070032318,0.546235105747,0.00876247293291,1.06970044162
+415,6.916666667,pose2_to_pose3_retreat,0.575664496042,9.06830572305e-05,1.07003221565,0.546234950473,0.00876243208481,1.06970034178
+416,6.933333333,pose2_to_pose3_retreat,0.575664330353,9.06334314113e-05,1.07003210961,0.546234785841,0.00876238614911,1.06970023841
+417,6.950000000,pose2_to_pose3_retreat,0.575664330265,9.06211427689e-05,1.07003212095,0.546234785812,0.00876237406342,1.06970024986
+418,6.966666667,pose2_to_pose3_retreat,0.575664329965,9.05793471582e-05,1.07003215953,0.546234785712,0.0087623329581,1.06970028878
+419,6.983333333,pose2_to_pose3_retreat,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571873,1.06970035246

Part2/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_05/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0baafb81e56b43c6d8f66f4c944053c79c85f7ec2cca1ba4fb184fd39f904216
+size 26638206